This article describes the design and implementation of a fuzzy controller developed for improving car stability by controlling car side-slip angle. The strategy has been to estimate the slip angle by a trained neural...
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The compound axle is a space saving suspension component that is relatively inexpensive and easy to install. Therefore it is used in rear suspension system of most front wheel drive passenger cars. This article presen...
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In this paper, behavior of teleoperation systems with modeling error and error of delay time in Smith predictor is discussed. In teleoperation systems usually there is a large distance between Master system and Slave ...
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In this paper, behavior of teleoperation systems with modeling error and error of delay time in Smith predictor is discussed. In teleoperation systems usually there is a large distance between Master system and Slave system. In this case there is always an error in modeling of system. The condition for stability of teleoperation systems with modeling error is derived by introducing of a theorem. This theorem can assist a designer in ensuring the stability of the teleoperation system. Also, error of delay time and stability of teleoperation systems by using of Internet as communication channel are discussed. The effect of delay time prediction on the system stability and performance is studied and it is shown that delay time prediction could improve system performance. Simulation results are presented to verify the obtained results.
Practical stability of multiple robots for compliant manipulation on dynamic enviroments is addressed in this paper. The complete dynamic model of multiple robots holding a dynamic object is presented. The control tas...
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This paper presents a new topological structure for use in the context of hierarchical radiosity combined with discontinuity meshing. This is most useful for a new strategy adopted for subdividing the elements of a sc...
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This paper presents a new topological structure for use in the context of hierarchical radiosity combined with discontinuity meshing. This is most useful for a new strategy adopted for subdividing the elements of a scene consisting of convex polygons. The subdivision is done in a local optimization manner keeping the aspect ratios of produced polygons low. The generated meshes give high visual accuracy.
Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. To realize these snakes' noticeable features, we have developed a snake-like robot that has no any forwar...
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Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. To realize these snakes' noticeable features, we have developed a snake-like robot that has no any forward direction driving force. To enlarge the environment-adaptable ability of our robot, in this study we discuss the creeping locomotion of our snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of our snake-like robot on a slope, and the environment-adaptable body shape for the creeping locomotion of the snake-like robot on slope is also derived through this simulator.
Snakes perform many kinds of movement adapted to environments. Utilizing the snake as a model, we have developed a 2-dimensional snake-like robot that emulates a snakes' function. To make our robot move optimally ...
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ISBN:
(纸本)078037925X
Snakes perform many kinds of movement adapted to environments. Utilizing the snake as a model, we have developed a 2-dimensional snake-like robot that emulates a snakes' function. To make our robot move optimally while adapting to the slope environment, in this study we discussed the influence of the inclining angle of the slope to the creeping locomotion of the robot and derived its optimal creeping locomotion curves that adapted to the given slopes.
Snake-like robot has its unique locomotion mode and can change its locomotion form while the ground condition changed, to achieve the best velocity and efficiency. We first analyze the snake-like robot's locomotio...
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ISBN:
(纸本)078037925X
Snake-like robot has its unique locomotion mode and can change its locomotion form while the ground condition changed, to achieve the best velocity and efficiency. We first analyze the snake-like robot's locomotion on different terrains simply, then point out the significance to sense the ground status that is the base of choosing different locomotion form on different ground. Last we use force sensors to distinguish the different ground status.
作者：
S. ChittaV. KumarGeneral Robotics Automation
Sensing and Perception (GRASP) Laboratory Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania USA
We develop the dynamic model for a planar rollerblader. The robot consists of a rigid platform and two planar, two degree-of-freedom legs with in-line skates at the foot. The dynamic model consists of two unicycles co...
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We develop the dynamic model for a planar rollerblader. The robot consists of a rigid platform and two planar, two degree-of-freedom legs with in-line skates at the foot. The dynamic model consists of two unicycles coupled through the rigid body dynamics of the planar platform. We derive the Lagrangian reduction for the rollerblading robot. We show the generation of some simple gaits that allow the platform to move forward and rotate by using cyclic motions of the two legs.
In this paper, the dynamic performance of position-based visual servoing methods in the Cartesian and image spaces are investigated. Two major classifications of the position-based method are analyzed. For motion cont...
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In this paper, the dynamic performance of position-based visual servoing methods in the Cartesian and image spaces are investigated. Two major classifications of the position-based method are analyzed. For motion control defined in the stationary desired end-effector frame, the shortest straight line Cartesian trajectory can be achieved, but the corresponding image trajectories are not controlled and may leave the camera field of view. For motion control defined in the moving current end-effector frame, the straight line Cartesian trajectory is not guaranteed, however, the im- age trajectories can be indirectly controlled in this method to move approximately along straight lines when the commanded orientation is small. Simulation results are given to compare the Cartesian and image trajectories of various implementations of the position-based method with those of the image-based and 2 1/2-D methods.
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