This paper presents a foot planner algorithm for bipedal walking along an arbitrary curve. It takes a parametrically defined desired path as an input and calculates feet positions and orientations at each step. Number...
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ISBN:
(纸本)9789897583049
This paper presents a foot planner algorithm for bipedal walking along an arbitrary curve. It takes a parametrically defined desired path as an input and calculates feet positions and orientations at each step. Number of steps that are required to complete the path depends on a maximum step length and maximum foot rotation angle at each step. Provided with results of the foot planner, our walking engine successfully performs robot locomotion. Verification tests were executed with AR601M humanoid robot.
We address an optimal reachability problem in constrained environments for hyper-redundant and soft planar manipulators. Both the discrete and continuous devices are inextensible and they are characterized by a bendin...
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ISBN:
(纸本)9789897584428
We address an optimal reachability problem in constrained environments for hyper-redundant and soft planar manipulators. Both the discrete and continuous devices are inextensible and they are characterized by a bending moment, representing a natural resistance to leave the position at rest, an inequality constraint forcing the bending below a fixed threshold, and a control term prescribing local bending. After introducing the model and characterizing the associated equilibria, we set the problem in the framework of optimal control theory and we present some simulations related to its numerical solution.
The paper deals with a problem of parameter identification for a model of Twin Rotor MIMO System laboratory bench, which is described by a nonlinear multi-channel system with cross-couplings. The chosen method is base...
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ISBN:
(纸本)9789897584428
The paper deals with a problem of parameter identification for a model of Twin Rotor MIMO System laboratory bench, which is described by a nonlinear multi-channel system with cross-couplings. The chosen method is based on the Dynamic Regressor Extention and Mixing (DREM) procedure that guarantees monotonic convergence of the estimations even in case of multiple related parameters simultaneously identification. Results are verified by computer simulation.
Human posture control models are used to analyse neurological experiments and control of humanoid robots. This work focuses on a well-known nonlinear posture control model, the DEC (Disturbance estimate and Compensati...
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ISBN:
(纸本)9789897584428
Human posture control models are used to analyse neurological experiments and control of humanoid robots. This work focuses on a well-known nonlinear posture control model, the DEC (Disturbance estimate and Compensation). In order to compensate disturbances, unlike other models, DEC feedbacks signals coming from sensor fusion rather than raw sensory signals. In previous works, the DEC model is shown to predict human behavior and to provide a control system for humanoids. In this work, the stability of the system in the sense of Lyapunov is formally analysed. The theoretical findings are combined with simulation results, in which an external perturbation of the support surface reproduces a typical scenario in posture control experiments.
This paper proposes a discrete-time adaptive regulation approach for scalar linear time-invariant systems with unknown, constant input time delay that has a known upper-bound, without explicitly estimating the time de...
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ISBN:
(纸本)9789897583803
This paper proposes a discrete-time adaptive regulation approach for scalar linear time-invariant systems with unknown, constant input time delay that has a known upper-bound, without explicitly estimating the time delay. To cope with the unknown time delay, a state substitution is made that results in a delay free system that simplifies the control law design. In addition, the proposed approach does not require that the system have stable open-loop zeros. A stability analysis shows that the proposed regulator drives the system state to zero asymptotically and simulation results are shown to verify the approach.
In the scope of this work, a frequently used gaming device-the gamepad-is investigated as a control device for industrial robots in order to extract new ideas for the improvement of existing control devices. Thus, an ...
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ISBN:
(纸本)9789897581984
In the scope of this work, a frequently used gaming device-the gamepad-is investigated as a control device for industrial robots in order to extract new ideas for the improvement of existing control devices. Thus, an approach for the integration of a gamepad control in a common industrial robot system is developed and implemented. The usability of the gamepad control is improved by adding a smartphone to the gamepad, which serves as a display to show information to the user. Finally, the developed gamepad control is compared with the operation via conventional control device.
This paper is addressed to dynamic control problem of nonholonomic differential wheeled mobile robot. it presents a dynamic controller to mobile robot, which requires only information of the robot configuration, that ...
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ISBN:
(纸本)9789728865832
This paper is addressed to dynamic control problem of nonholonomic differential wheeled mobile robot. it presents a dynamic controller to mobile robot, which requires only information of the robot configuration, that are collected by an absolute positioning system. The control strategy developed uses a linear representation of mobile robot dynamic model. This linear model is decoupled into two single-input single-output systems, one to linear displacement and one to angle of robot. For each resulting system is designed a dual-mode adaptive robust controller, which uses as inputs the reference signals calculated by a kinematic controller. Finally, simulation results are included to illustrate the performance of the closed loop system.
In this paper, we consider the software and hardware implementation of an intelligent distributed system for forecasting and controlling the optimal distribution of heat in the room. Prediction is based on a pre-train...
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ISBN:
(纸本)9789897583803
In this paper, we consider the software and hardware implementation of an intelligent distributed system for forecasting and controlling the optimal distribution of heat in the room. Prediction is based on a pre-trained neural network model. The system uses calculation results of the one-dimensional heat conduction problem to correct neural model being trained and decides to turn on / off a specific air conditioner depending on the predicted data.
This paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultan...
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ISBN:
(纸本)9789898565709
This paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultaneously. This is possible by a combination of linear algebra and nonlinear optimization techniques. The advantage of the new approach is illustrated through the control of a launcher in atmospheric flight.
A monitoring system based on a stopwatch automaton is proposed to detect the system faults as early as possible. Each location in the automaton corresponds to a system's situation. Its time space delimits exactly ...
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ISBN:
(纸本)9789728865849
A monitoring system based on a stopwatch automaton is proposed to detect the system faults as early as possible. Each location in the automaton corresponds to a system's situation. Its time space delimits exactly the range of the normal behavior in the corresponding system's situation. The monitoring system detects a fault when the time space corresponding to the actual system's situation is violated. The stopwatch automaton provides a formal foundation to model the system's behavior and to synthesize the exactly time space in each location. This paper aims to provide the grafcet monitor that allows to link the design of the monitoring system of a system with its implementation in a programmable logic controller.
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