In this paper, a development of a child-sized humanoid robot for dance performances is described. The mechanism of a humanoid robot of 1.10 meters tall was designed. By considering dance performance, the mechanism of ...
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This paper shows a study on two chambers soft actuator development and its application to an artificial soft actuator fin. Simulations of two chambers actuator are conducted using finite element method software and th...
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This paper presents a multi-robot solution to the task of object clustering, where the simplicity of the robots is pushed to the extreme that (i) each robot can only detect the presence of (but not the distance to) an...
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ISBN:
(纸本)9781634391313
This paper presents a multi-robot solution to the task of object clustering, where the simplicity of the robots is pushed to the extreme that (i) each robot can only detect the presence of (but not the distance to) an object or another robot in its direct line of sight, and (ii) the robots are unable to store previous inputs and cannot perform arithmetic computations. controllers for the robots were synthesized through an evolutionary robotics approach driven by physics-based simulations. The results show that the problem can be solved even if the robots cannot distinguish between objects and other robots; however, if they are able to make this distinction, the clustering performance is significantly improved. The controllers have been shown to scale well to large numbers of robots and objects and to be robust to noise. The sensor/controller solution was implemented on the e-puck robotic system. Across 10 systematic experiments with 5 robots and 20 objects, on average, 86.5% of the objects were in one cluster after 10 minutes. We believe that the sensor/controller simplicity paves the way for the implementation of multi-robot systems at very small scales, as required, for instance, in nanomedical applications.
The paper concerns a research into dynamic properties of the steel suspension bridge across Opolska Street in Krakow, Poland. Parameter identification was carried out with the application of the nonlinear system ident...
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The paper concerns a research into dynamic properties of the steel suspension bridge across Opolska Street in Krakow, Poland. Parameter identification was carried out with the application of the nonlinear system identification method on the basis of system responses to exploitational excitation resulting from pedestrian traffic. In order to verify obtained results, on the basis of the geometrical and material properties of the considered system, the FEM （finite elements model） was created. Created FEM model was updated through the comparison with the model determined by the use of experimental modal analysis method and then applied to analytical evaluation of the considered suspension bridge natural frequencies.
control of a flexible joint of an industrial manipulator using H∞ design methods is presented. The considered design methods are i) mixed-H∞ design, and ii) H∞ loop shaping design. Two different controller configur...
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The practical effectiveness of modular robotic systems depends heavily on the connection mechanisms used to join their separate entities, particularly for those systems capable of self-reconfiguration. This work prese...
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ISBN:
(纸本)9781479969357
The practical effectiveness of modular robotic systems depends heavily on the connection mechanisms used to join their separate entities, particularly for those systems capable of self-reconfiguration. This work presents HiGen, a high-speed genderless mechanical connection mechanism for the docking of robotic modules. HiGen connectors can join with one another in a manner that allows either side to disconnect in the event of failure. During connection electrical contacts are mated, supporting the concurrent use of local and global communication protocols, as well as power sharing techniques. Rapid actuation of the mechanism allows connections to be made and broken at a speed that is, to our knowledge, an order of magnitude faster than existing mechanical genderless approaches that feature single-sided disconnect, benefiting the reconfiguration time of modular robots. The HiGen connector is intended for future work in modular robotics, but could also see use in other areas of robotics for tool and payload attachment.
In this paper, the performance of the 5-DOF upper-limb exoskeleton with a tilted and vertically translating shoulder joint, which was proposed in our previous work, is verified by simulations and experiments. In this ...
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In this paper, the performance of the 5-DOF upper-limb exoskeleton with a tilted and vertically translating shoulder joint, which was proposed in our previous work, is verified by simulations and experiments. In this design, one vertical prismatic joint was added for the vertical translation of the shoulder, and the shoulder joint was tilted to avoid the singularity problem. Based on the kinematic analysis in our previous work, the manipulability analysis was performed to determine the tilting angles and to check whether the singularity problem was appropriately addressed by the proposed design. The natural motion enabled by the added vertical translation was experimentally verified. For the experiments, an unactuated prototype of the proposed exoskeleton system was designed and manufactured. The experiment was focused on the decrease of the load on user's shoulder with a vertically translating shoulder joint. The three axis forces at the shoulder joint were compared with those of conventional upper-limb exoskeleton whose shoulder joint was fixed. The simulation and experimental results show that the proposed upper-limb exoskeleton design is suitable for supporting natural motions of the upper-limb.
Pursuit formation control of double-integrator Multi-Agent Systems (MASs) is considered in this paper. To achieve a formation, a hierarchical control scheme is proposed in two layers. In the first layer, in a leaderle...
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Pursuit formation control of double-integrator Multi-Agent Systems (MASs) is considered in this paper. To achieve a formation, a hierarchical control scheme is proposed in two layers. In the first layer, in a leaderless architecture, each agent pursues another one in a cyclic topology to achieve a regular polygon formation around a centroid, namely, pursuit centroid, and in the second layer, the agents agree on a pursuit centroid around which they pursue each other. Despite existing cyclic pursuit approaches in the literature which are based on agents with kinematic models and constant forward speeds, the proposed approach is based on agents with double-integrator dynamics without speed constraints. Numerical simulations for a team of six agents confirm the accuracy of the proposed control scheme.
This paper deals with the tracking problem for a class of uncertain nonlinear systems subjected to actuator saturation constraint. Despite most of proposed control schemes for saturated systems which employed linear i...
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This paper deals with the tracking problem for a class of uncertain nonlinear systems subjected to actuator saturation constraint. Despite most of proposed control schemes for saturated systems which employed linear in parameter neural networks (LPNNs), in the present work nonlinear in parameter neural network (NLPNN) is introduced to support global approximation property. To compensate the effect of the input saturation constraint an auxiliary system is introduced and the error dynamics are modified based on the auxiliary states. Then, learning rules are achieved based on the back propagation (BP) algorithm and by adding two robustifying terms to the standard BP learning rules the stability of the overall system is ensured via Lyapunov direct method. Finally simulations performed on a “generalized pendulum” nonlinear system to illustrate the effectiveness of the proposed tracking control scheme.
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