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The research of biped robot gait generator based on decoupling synthesis and ZMP algorithm

The research of biped robot gait generator based on decoupli...

引用

international Asia conference on Informatics in control, Automation and robotics, CAR

作者： Xie Lun Boshuai Zhu Guochen Yu Zhiliang Wang Kun Wu School of Information Engineering University of Science and Technology Beijing 100083 China School of Information Engineering University of Science and Technology Beijing China Sch. of Inf. Eng. Univ. of Sci. & Technol. Beijing Beijing China

The paper proposed a biped walking robot gait generation method which based on the first decoupling calculation and then synthesis planning. Through ZMP equation, the geometric constraint algorithm and biped robot walking model, I discussed the smoothness and stability of the walking course, and analysis its performance combined with actual system, Verify the effectiveness of planning, To provide the necessary information for future development of biped robot.

关键词： Legged locomotion robot kinematics Leg Equations Hip Solid modeling Fusion power generation Couplings Nonlinear dynamical systems robot control

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Path planning algorithm based on sub-region for agricultural robot

Path planning algorithm based on sub-region for agricultural...

引用

international Asia conference on Informatics in control, Automation and robotics, CAR

作者： Guoyu Zuo Peng Zhang Junfei Qiao School of Electronic Information & Control Engineering Beijing University of Technology Beijing China

ISBN: (纸本)9781424451920;9781424451937

This paper proposes a agricultural robot's complete coverage path-planning method based on sub-region to avoid the overabundance of turns in narrow areas. First, a given environment is divided into several sub-regions without preserves. Second, the robot finds out the covering order of subregions by transforming it into the problem of Depth-First Search (DFS), and then it can cover all sub-regions in the DFS order. When covering every sub-region, the robot travels along the longer side of sub-region. The simulation experiment verifies that the sub-region covering method can effectively reduce the number of turns.

关键词： Path planning robot kinematics Agriculture Intelligent robots robotics and automation robot sensing systems Materials science and technology Power generation economics Environmental economics Asia

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Simulation and control of Reconfigurable Modular robot Arm Based on CloseLoop Real-Time Feedback

Simulation and Control of Reconfigurable Modular Robot Arm B...

引用

2010 2nd international conference on Computer Engineering and technology(2010年第二届计算机工程与技术国际会议 ICCET 2010)

作者： Jun Zhou Yueqing Yu College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology Beijing China

ISBN: (纸本)9781424463473;9781424463497;9781424463503

Reconfigurable modular robot is a new aspect in the development of robotics. Compared with the traditional robots,a lot of attentions have been paid to the advantages of the reconfigurable modular robot,such as the variety of structure and the adaptability to the complicated environment. At present,most robotic control methods only use the feedback of motor encoder,not use the feedback of actual endposition of robot arm. However,due to the joint flexibility and integral assembly error,the control accuracy of robot arm is not high only according to the motor feedback. Therefore,this control method is the open-loop approach. In this study,a PowerCube reconfigurable modular robot system is presented with motion simulation and control of close-loop real-time feedback using Optotrak3020 measurement system. The mechanical and electrical layout of PowerCube module robot, the robot motion model,the control concept and implementation of close-loop real-time feedback are investigated respectively. Finally,through a 3D simulation and experiment of modular robot arm for grasping a cup and pumping water,the feasibility and applicability of this control strategy are verified.

关键词： reconfigurable modular robot:powercube module:optotrak measurement system:real-time feedback

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Adaptive neural network tracking control of robot manipulators including motor dynamics: Dynamic surface backstepping methodology

Adaptive neural network tracking control of robot manipulato...

引用

international conference on Industrial Mechatronics and Automation, ICIMA

作者： Xiwen Guo Qunjing Wang Cungang Hu Zhe Qian Department of Electrical Engineering & Automation Hefei University of Technology Hefei China Department of Electronic Science and Technology Anhui University Hefei China

ISBN: (纸本)9781424476534;9781424476565

To solve the trajectory tracking control problem for rigid-link robot manipulators including actuator dynamics, a novel neural network (NN)-based adaptive algorithm is discussed. In the proposed control algorithm, radial basis function neural network (RBFNN) is adopted to approximate the nonlinear dynamics of the robot manipulators' electromechanical system. Moreover, the key features are that, firstly, the unmatched & uncertainties of the system are overcame, secondly, the problem of “explosion of complexity” inherent in the conventional backstepping method is avoided due to combing with “dynamic surface control” (DSC) approach. Finally, simulation results are included to demonstrate the tracking performance and the effectiveness of proposed algorithm.

关键词： Manipulator dynamics Adaptive systems Programmable control Adaptive control Neural networks robot control Backstepping Nonlinear dynamical systems control systems Trajectory

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Research on robot Mechanism Type Synthesis by Degree of Freedoms Method

Research on Robot Mechanism Type Synthesis by Degree of Free...

引用

international Asia conference on Informatics in control, Automation, and robotics

作者： Jinliang Gong Yanfei Zhang Xiuting Wei College of Machinery Engineering Shandong University of Technology

ISBN: (纸本)9781424451920;9781424451937

Type synthesis of robot mechanism is an important and complicated research field. There are many type synthesis methods at present and different method is fit for different type of robot mechanism. This paper studies all kind of the degree of freedoms (DOF) for robot mechanism. Three DOFs including I-DOF, M-DOF and E-DOF are summarized and used to appraise characteristics and type for a given robot mechanism. Some useful conclusions are also given for us to select appropriate robot mechanism to meet our demands.

关键词： robot mechanism Type synthesis Degree of freedom Design

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Locomotion control for a modular snake robot over rough terrain

Locomotion control for a modular snake robot over rough terr...

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international conference on Environmental Science and Information Application technology, ESIAT

作者： Xiaofeng Ye Yanpeng Niu Hui Wang Tianhua Meng School of Instrument Science and Engineering South-East University Nanjing China

This paper presents the design and implementation of a novel modular snake robot for rough terrain. The proposed snake robot is composed of several identical modules that are assembled together. It is more flexible and robust in harsh environments than traditional wheel and track based mobile robots. A cosine model is proposed to control the locomotion of the snake robot. The modular snake robot is able to creep at different speeds and in different directions by modulating the parameters of the cosine model. Its basic locomotion performance has been verified in experiments.

关键词： Joints Mobile robots Creep Servomotors robot kinematics Service robots

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Motion Planning for the Intervention Therapy robot System

Motion Planning for the Intervention Therapy Robot System

引用

The 2nd IEEE international conference on Advanced Computer control(第二届先进计算机控制国际会议 ICACC 2010)

作者： Qinjun Du Xueyi Zhang School of Electrical and Electronic Engineering Shandong University of Technology Shandong Zibo Chin Traffic and Vehicle Engineering School Shandong University of Technology Shandong Zibo China

ISBN: (纸本)9781424458455;9781424458486;9781424458479;9781424458462

The minimally invasive surgery robot of five degrees of freedom has been developed for assisting surgeons to realize high quality and precise operation in Radio frequency ablation for patients with liver tumors. The minimally invasive surgery robot drives the ablator tool to track the tumor when the tumor moves in real time and precise orientate to the tumor. Through studying of the structure of the robot mechanism, the kinematics model of the framework is set up. By kinematics modeling and analysis, the quintic polynomial interpolation is adopted in trajectory planning for the robot locomotion control. The simulation results show that it can guarantee the continuous of joints position, velocity and acceleration, the robot movement smooth is essential to the doctor, patient and robot itself, which contribute to improve the safety of the people and stability of the robot.

关键词： medical robot kinematics analysis motion planning intervention therapy

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Novel method of trajectory tracking and posture stabilization for mobile robot

Novel method of trajectory tracking and posture stabilizatio...

引用

international Asia conference on Informatics in control, Automation and robotics, CAR

作者： Wanli Liu Zhankui Wang Hua Zhu School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou China Henan Institute of Science and Technology Xinxiang Henan China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou

ISBN: (纸本)9781424451920

This paper establishes the three-wheel mobile robot kinematics model based on the research on its structure and working principle. A novel algorithm is developed for the trajectory tracking and posture stabilization of three-wheel mobile robot using contractive model, which address stability by adding terminal state penalties in the performance index and imposing constraints on the terminal state, it can predict future system behavior and penalize the system tracking error and the control effort. Intensive experiments studies have been made to check validity of the proposed algorithm. The results show that the control algorithm has the capability of simultaneous trajectory tracking and stabilization.

关键词： Trajectory Mobile robots robot kinematics Service robots Orbital robotics Linear feedback control systems Stability robotics and automation Predictive models Performance analysis

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Design and implementation of an Emergency Search and Rescue System based on mobile robot and WSN

Design and implementation of an Emergency Search and Rescue ...

引用

international Asia conference on Informatics in control, Automation and robotics, CAR

作者： Huiyong Wang Minglu Zhang Jingyang Wang School of Mechanical Engineering Hebei University of Technology Tianjin China Institute of Information Science & Engineering Hebei University of Science and Technology Shijiazhuang Hebei China

ISBN: (纸本)9781424451920;9781424451937

In order to monitor the leakage of hazardous chemicals and guarantee the safety of people in hazardous areas, we developed RESRS (robot Emergency Search and Rescue System). RESRS integrated technologies such as mobile robot and WSN (Wireless Sensor Network). The mobile robots in the system act as mobile nodes of WSN. We describe the components of the generic RESRS's architecture in detail. A small-scale demonstration experiment was presented to highlight the concept and application of the RESRS to an actual chemical accident. Although our proposed system architecture provides a versatile framework for integration, a number of new and interesting research problems need to be solved before actual deployment of the system.

关键词： Mobile robots Wireless sensor networks Monitoring robot sensing systems Chemical technology Accidents robot control robotics and automation Mechanical engineering Chemical hazards

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control robot by multiagent control architecture

Control robot by multiagent control architecture

引用

international conference on Computer technology and Development (ICCTD)

作者： Fouad Moutaouakkil Hicham Medromi Systems' Architecture Team Ensem Hassan II University Casablanca Morocco

In this paper we propose a behavior-based architecture, which can also be seen as a multi-agent architecture, to control a situated and embodied autonomous mobile robot, under a close sensing action relationship. Preexisting knowledge can play a meta-level role, being used in order to provide an adviser capability which is combined with the basic reactive feature of the robot. One of the challenges of the behavior-based approach is the integration and coordination of multiple different behaviors. This problem was faced using combination operators applied to lower level behaviors and producing useful and coherent higher level behaviors. Our autonomous mobile robot also exhibits learning capabilities, namely the ability to learn new behaviors in an autonomous way. In this context it was designed to the elementary behaviors a connectionist architecture that encompasses the capabilities of building specific basic competences. Through the exploration of the proposed control architecture a mobile platform has become an useful autonomous mobile robot It is able to deal with dynamic environments, evolving in a coherent, relevant and adequate way according to both the current situation as well as with its assigned missions.

关键词： robot sensing systems Robustness Irrigation control systems Artificial neural networks

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