Using a complaint actuator is necessary and one of the most important factor for a passive biped robot to get a natural gait which is an unique feature of 9;passive dynamic walking9;, so how to controlthe compl...
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Versatility of configurations is a significant feature for modular self-reconfigurable robots. For an arbitrarily assembled typical configuration, it is not easy to find the control method quickly in case of the symme...
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A new methodology - DMOC (Discrete Mechanics and Optimal control) is presented to solve the classic Goddard rocket problem. this method firstly discretizes the Lagrange-d9;Alembert principle for the rocket system, ...
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this paper presents the development of photogrammetry software to measure the flatness of a membrane structure for active shape control. the principle of photogrammetry technique and detailed implementation are presen...
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In this paper, a salamander-like amphibious robot prototype named Chigon is proposed. the Chigon can realize crawling locomotion on land and swimming locomotion under water, respectively. In order to achieve such two ...
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the theory of preview tracking control is applied for the solution of the dynamic output-feedback control problem of linear discrete-time systems for both: finite-horizon and stationary cases. Based of the solution of...
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A self-reconfigurable (SR) robot is a cellular robot that is capable of adapting its shape and functions to changing environments and demands, and the "cellular" in which can rearrange their mutual mechanica...
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the reliability of AFM based nanomanipulation is one of the prerequisites for nano fabricating, thus uncertainties of the target nano-particle position need to be controlled within a pointed limits, which lead to two ...
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In order to help with care work and rescue operations, humanoid robots should have the ability to lift and carry humans gently and steadily. this paper is a step towards the ultimate goal of giving humanoid robots the...
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the gyroscope system is widely applied in various areas of engineering. From the state response of the gyroscope system, it is shown that the gyroscope system have highly nonlinearity and chaotic characteristic. In th...
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