This paper presents a novel closed-loop method for a multilink robotic fish to mimic the C-start maneuver, in which the turning speed and precision are emphasized. The turning speed is maximized by carefully designed ...
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In this paper, the task of tweezers manipulation is considered with the goal of achieving dexterous manipulation of a human tool. First we analyze the contact state between fingers and tweezers in order to design pref...
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This article upgrades the RC linear model presented for the piezoresistive-force sensors. Amplitude nonlinearity was found in sensors conductance, and a characteristic equation was formulated for modeling it. By using...
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ISBN:
(纸本)9789898425744
This article upgrades the RC linear model presented for the piezoresistive-force sensors. Amplitude nonlinearity was found in sensors conductance, and a characteristic equation was formulated for modeling it. By using such equation, it is possible to determine sensor sensitivity for any driving voltage below 1V. This model considerable improves the plug-and-play capability of the sensor. However, sensor conductance is unsatisfactory modeled by such equation when the input voltage goes over 1V. We present an approach for such driving condition.
Human's body is quite flexible because of high redundancy. Compared with the existing control schemes of robot manipulator, human's upper limb has better performance in movement and robustness in fault toleran...
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ISBN:
(纸本)9780889869035
Human's body is quite flexible because of high redundancy. Compared with the existing control schemes of robot manipulator, human's upper limb has better performance in movement and robustness in fault tolerance. This paper addresses the problem of controlling a upper-limb like humanoid robot arm actuated by muscles. Specifically, we built a humanoid robot arm based on a real human's anthropological parameters. Biarticular muscles were added as actuators. The proposed adaptive control scheme tolerates the modeling error;the parameter adaptation scheme identifies the timevarying arm parameters in real-time. The computed torques acting on joints are distributed to corresponding muscle forces. The control and adaptation methods were verified by an arm simulation in bend-stretch movement.
Ample research is conducted on ICT, automation and robotics in agriculture and related environmental issues. ICT and robotics innovations are rapidly emerging and have the ability to revolutionize future farming throu...
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ISBN:
(纸本)9781936338337
Ample research is conducted on ICT, automation and robotics in agriculture and related environmental issues. ICT and robotics innovations are rapidly emerging and have the ability to revolutionize future farming through their major impacts on productivity and profitability. Unfortunately human and financial resources and efforts are fragmented and limited. This led to the creation of the ICT-AGRI ERA-NET that provides a central structured framework. Its main objective is to strengthen and coordinate European research regarding ICT and robotics in agriculture. Besides the creation of the Meta Knowledge Base (MKB), a common European research agenda will be developed and common research calls are launched. The Meta Knowledge Base (http://***) is attempting to map all relevant research and development within the selected research area. To accomplish the mapping, two types of information are collected: research profiles and research postings. To organize the postings, a three-dimensional task technology oriented framework was designed. The results indicated that the three axes: task, technology and scope seemed insufficient to describe the whole research area. Therefore, an improved framework was developed. By extending the task-technology oriented framework with a process-control information system, a useful framework was designed.
The purpose of this study is to design a power transmission lines inspection robot that works between two towers in harsh environment. A novel mechanism composed of wheels and grippers makes the robot move upwards on ...
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Structure-preserving techniques for solving essential computational problems in optimal control are presented. The techniques use possibly extended skew-Hamiltonian/Hamiltonian matrix pencils, and specialized algorith...
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ISBN:
(纸本)9789898425744
Structure-preserving techniques for solving essential computational problems in optimal control are presented. The techniques use possibly extended skew-Hamiltonian/Hamiltonian matrix pencils, and specialized algorithms to exploit their structure: the symplectic URV decomposition, periodic QZ algorithm, solution of periodic Sylvester-like equations, etc. The structure-preserving approach has the potential to avoid the numerical difficulties which are encountered for a traditional, non-structured solution, returned by the currently available software tools. Preliminary computational results are presented.
The use of an electrical narrow tilting car instead of a large gasoline car should significantly decrease traffic congestion, pollution and parking problem. The aim of this paper is to give an approach to develop a dy...
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ISBN:
(纸本)9789898425751
The use of an electrical narrow tilting car instead of a large gasoline car should significantly decrease traffic congestion, pollution and parking problem. The aim of this paper is to give an approach to develop a dynamic model for narrow cars. This model can be used to simulate their behaviours and evaluate tilt control systems. The approach is based on considering the vehicle as a multi-body poly-articulated system and the modelling is carried out using the robotics formalism based on the modified Denavit-Hartenberg geometric description.
In this paper we propose a novel method for predicting resident's behaviors in a house from one's movement trajectories. The method consists of 1) segmentation of trajectory data into staying or moving and cla...
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In the paper we want to present a problem of path following for nonholonomic mobile manipulators. In our consideration we restrict ourself to doubly nonholonomic mobile manipulators. Nonholonomic constraints appear du...
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