Jumping and landing movements are characterized by large instantaneous forces, short duration, and a high uncertainty concerning take off and landing points. Such characteristics make conventional types of control and...
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Jumping and landing movements are characterized by large instantaneous forces, short duration, and a high uncertainty concerning take off and landing points. Such characteristics make conventional types of control and robot design inadequate. Here we present an approach to realize motor control of jumping and landing which exploits the synergy between control and mechanical structure. Our experimental system is a pneumatically actuated bipedal robot called "Mowgli". Mowgli's artificial musculoskeletal system consists of six McKibben pneumatic muscle actuators including bi-articular muscle and two legs with hip, knee, and ankle joints. Mowgli can reach jump heights of more than 50% of its body height and can land softly. Our results show a proximo-distal sequence of joint extensions during jumping despite simultaneous motor activity. Extensions in the whole body motion are caused by the compliance and the natural dynamics of the legs. In addition to the experiments with the real robot, we also simulated two types of open loop controllers for vertical jumping with disturbance. We found that the model controlled by open loop motor command through a muscle-tendon mechanism could jump robustly. The simulation results demonstrate the contribution of the artificial musculoskeletal system as a physical feedback loop in explosive movements.
A novel 9 rules self-tuning PD+I fuzzy logic controller applicable for a class of nonlinear plants is proposed in this paper. The controller comprises of three separate fuzzy logic controllers with each uses minimum n...
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A novel 9 rules self-tuning PD+I fuzzy logic controller applicable for a class of nonlinear plants is proposed in this paper. The controller comprises of three separate fuzzy logic controllers with each uses minimum number of rules and the output scaling factor is tuned automatically depending on the tracking error dynamic conditions. The controller is applied to a two-link revolute robot for the tracking control. Simulation results show that the robustness and tracking performance of the proposed controller is comparable to standard PD+I fuzzy logic controller at low and medium speed motions. However, the performance of the proposed new design far exceeds the standard design at high speed motions.
Vision, as a key perceptional capability for cognitive systems relates to rather difficult problems -such as visual object recognition, representation, categorization, and scene understanding. State-of-the-art solutio...
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Vision, as a key perceptional capability for cognitive systems relates to rather difficult problems -such as visual object recognition, representation, categorization, and scene understanding. State-of-the-art solutions, using object appearance based models, already reached certain maturity. They achieve excellent recognition performance and provide learning structures that are subsequently utilized for object recognition and tracking. However, in context of object topology understanding for cognitive tasks, these methods cannot be directly compared with human performance, because it is obvious that appearance based methods do not contribute to understanding of structures in 3D. Research findings from infant psychology and animal investigation give evidence for using hierarchical models of object representation, based on image primitives e.g. such as edges, corners, shading or homogeneity of object colors. It is the objective of this paper to present an approach based on both, findings from biological studies and cognitive science, as enablers for autonomous cognitive investigation of natural scenes and their understanding. We present the architecture of a compound cognitive framework and its first behavioral level with the implementation of a vision model of the mammalian striate visual cortex in five layers. The proposed implementation is exemplified with an object similar to the Necker cube.
The Second internationalconference on informatics in control, automation, and robotics (ICINCO 2005) was held in Barcelona on September 14-17, 2005, organized by INSTICC in cooperation with the Universitat Polité...
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The proceedings contain 175 papers. The topics discussed include: Holonic Stigmergy as a mechanism for engineering self-organizing applications;symbiosis of human and communication robots;wave-based control of flexibl...
ISBN:
(纸本)9728865597
The proceedings contain 175 papers. The topics discussed include: Holonic Stigmergy as a mechanism for engineering self-organizing applications;symbiosis of human and communication robots;wave-based control of flexible mechanical systems;a multi-agent home automation system for power management;distributed emergency management with spatial scenarios;Monte Carlo localization in highly symmetric environments;a performance metric for mobile robot localization;simultaneous localization and mapping in unmodified environments using stereo vision;a solution for evaluating the stopper quality in the cork industry;estimation of performance of heavy vehicles by sliding modes observers;features extraction and training strategies in continuous speech recognition for Romanian language;sonar buoys: an improved design approach;an algorithm evaluation test suite for blind source separation problem;and the use of modulating functions for identification of continuous systems with time-varying parameters.
The proceedings contain 175 papers. The topics discussed include: Holonic Stigmergy as a mechanism for engineering self-organizing applications;symbiosis of human and communication robots;wave-based control of flexibl...
ISBN:
(纸本)9728865619
The proceedings contain 175 papers. The topics discussed include: Holonic Stigmergy as a mechanism for engineering self-organizing applications;symbiosis of human and communication robots;wave-based control of flexible mechanical systems;a multi-agent home automation system for power management;distributed emergency management with spatial scenarios;Monte Carlo localization in highly symmetric environments;a performance metric for mobile robot localization;simultaneous localization and mapping in unmodified environments using stereo vision;a solution for evaluating the stopper quality in the cork industry;estimation of performance of heavy vehicles by sliding modes observers;features extraction and training strategies in continuous speech recognition for Romanian language;sonar buoys: an improved design approach;an algorithm evaluation test suite for blind source separation problem;and the use of modulating functions for identification of continuous systems with time-varying parameters.
The proceedings contain 175 papers. The topics discussed include: Holonic Stigmergy as a mechanism for engineering self-organizing applications;symbiosis of human and communication robots;wave-based control of flexibl...
ISBN:
(纸本)9728865600
The proceedings contain 175 papers. The topics discussed include: Holonic Stigmergy as a mechanism for engineering self-organizing applications;symbiosis of human and communication robots;wave-based control of flexible mechanical systems;a multi-agent home automation system for power management;distributed emergency management with spatial scenarios;Monte Carlo localization in highly symmetric environments;a performance metric for mobile robot localization;simultaneous localization and mapping in unmodified environments using stereo vision;a solution for evaluating the stopper quality in the cork industry;estimation of performance of heavy vehicles by sliding modes observers;features extraction and training strategies in continuous speech recognition for Romanian language;sonar buoys: an improved design approach;an algorithm evaluation test suite for blind source separation problem;and the use of modulating functions for identification of continuous systems with time-varying parameters.
This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mec...
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This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. After that the discussion focuses on the various locomotion capabilities. Linear movement, turning movement, lateral movement, rotating and rolling movement are achieved based on an inspired control model to produce rhythmic motion. In the end a conclusion and future work are given.
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