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Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots

Central pattern generators based on Matsuoka oscillators for...

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作者： Liu, Guang Lei Habib, Maki K. Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1 Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288013

Biologically inspired control approaches based on central pattern generators (CPGs) with neural oscillators have been drawing much attention to generate rhythmic motion for biped robots that resemble human-like locomotion. This paper describes the design of a neural oscillator based gait rhythm generator using a network of Matsuoka oscillators to generate a walk pattern for biped robots. This includes proper consideration of oscillator's parameters, such as a time constant adaptation rate, coupling factors for mutual inhibitory connections, etc., to obtain a stable and desirable response from the network. The paper examines the characteristics of a CPG network with six oscillators and the effect of assigning symmetrical and asymmetrical coupling coefficients among oscillators within the network structure under different possibilities of inhibitions and excitations. The kinematics and dynamic of a five-link biped robot has been modeled and its joints are actuated through simulation by the torques output from the neural rhythm generator to generate the trajectories for hip, knee, and ankle joints. The parameters of the neural oscillators are tuned to achieve flexible trajectories. The CPG based control strategy are implemented and tested through simulation. ©ISAROB 2007.

关键词： Machine design

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Simplified adaptive control with guaranteed H∞ performance

Simplified adaptive control with guaranteed H∞ performance

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作者： Yamin, R. Ben Yaesh, I. Shaked, U. Control Department Advanced Systems Division I.M.I Ramat-Hasharon 47100 Israel Department of Electrical Engineering-Systems Tel-Aviv University Tel-Aviv 69978 Israel

ISBN: (纸本)9783902661296

Robust simplified adaptive controllers for continuous-time systems with uncertainties and disturbances are considered. Sufficient conditions for closedloop stability and prescribed H∞ disturbance attenuation level of the proposed simplified adaptive control scheme, are introduced, under an almost-strictlypositive- realness requirement on the plant. A numerical example is given, which demonstrates the proposed method.

关键词： Continuous time systems

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The French national rockets launching campaign and the dawn of its collaboration with Japanese amateur space clubs

The French national rockets launching campaign and the dawn ...

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58th International Astronautical Congress 2007

作者： Scicluna, Christophe Ogimoto, Kenji Sasaki, Minoru Yonemoto, Koichi Planète Sciences Space Club Kansai Gifu University Kyushu Institute of Technology Space Club Kansai Osaka Japan Department of Human and Information Systems Engineering Gitu University Japan Space Engineering Course Department of Mechanical and Control Engineering Kyushu Institute of Technology Japan

ISBN: (纸本)9781605601502

Since 1962, the French space amateurs have been engaged in launching rocket projects under the control of CNES and the assistance of Planète Sciences. These groups gather at the yearly summer launching campaign organised in France. Considering design constraints dealing with safety and technical matters, space clubs are designing and building experimental rockets which are given flight authorization once they have passed a strict list of controls. This unique event supported by CNES attracts foreign clubs, especially from Japan where three clubs have now become regular participants in the campaign. These clubs enjoy the technical support provided throughout the year, together with the pedagogical and scientific approach promoted by Planète Sciences. It enables students from as young as 16 to achieve a complete space technical project with safety guarantees. The collaboration with French clubs reached its first milestone in 2007 with a French quasi-satellite onboard a Japanese rocket in France. Collaboration will grow among the clubs together with the motivation to develop international relations within common passion and interests for space usage. Copyright IAF/IAA. All rights reserved.

关键词： Launching

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The model-free learning enhanced motion control of DC motor

The model-free learning enhanced motion control of DC motor

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International Conference on Electrical Machines and systems, ICEMS 2007

作者： Rongmin, Cao Zhongsheng, Hou Wei, Zhang Department of Computer and Automation Beijing Institute of Machinery Industry China Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing Jiaotong University China

ISBN: (纸本)8986510081

This paper presents an approach towards learning enhanced motion control of DC motor, suitable for applications involving repeated iterations of motion trajectories. The overall structure of the control consists of a feedback and a feed-forward components. The model-free learning adaptive feedback control (MFLAC) provides for the main system stabilization and an iterative learning control (ILC) algorithm is proposed to serve as a feedforward compensation to nonlinear and unknown dynamics and disturbances, thereby enhancing the improvement achievable with PID or MFLAC alone. It serves as the basis for simulation study of the proposed control scheme. A comparison of the performance achieved with traditional PID and MFLAC is also provided to highlight the advantages of the additional intelligent feedforward mode.

关键词： DC motors

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Development of an exoskeleton robot for human wrist and forearm motion assist

Development of an exoskeleton robot for human wrist and fore...

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International Conference on Industrial and Information systems, ICIIS

作者： R. A. R. C. Gopura K. Kiguchi Department of Advanced Systems Control Engineering Science and Engineering Saga University Japan

Exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body. It transmits torques from actuators through rigid exoskeletal links to the human joints when it is worn. We have been developing exoskeleton robots for assisting the motion of physically weak individuals such as elderly or slightly disabled in daily life. In this paper we propose a three degree of freedom (3DOF) exoskeleton robot for the forearm pronation/supination motion, wrist flexion/ extension motion and ulnar/radial deviation. The paper describes wrist anatomy toward the development of the robot, the hardware design of the exoskeleton (mechanical structure and mechanism, sensors and actuators, power transmission and safety aspects) and potential control methods. Force control using force/torque sensors located at wrist and forearm and electromyographic (EMG) signals based control using skin surface EMG signals of forearm and wrist muscles are the potential control methods for the robot. Experiments have been performed to evaluate the proposed exoskeleton.

关键词： Exoskeletons Humans Wrist Force control Robot sensing systems Joints Actuators Mechanical sensors Electromyography Torque control

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Simultaneous localization and mapping (SLAM) based on pseudolinear measurement model with a bias reduction approach

Simultaneous localization and mapping (SLAM) based on pseudo...

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International Conference on Industrial and Information systems, ICIIS

作者： Chandima Dedduwa Pathiranage Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Saga University Japan

This paper describes an improved solution to mobile robot localization and map building problem based on pseudolinear measurement model through bias reduction approach. Accurate estimation of vehicle and landmark states is one of the key issues for successful mobile robot navigation if the configuration of the environment and initial robot location are unknown. Direct linearization of nonlinear models has always come up with information loss of original nonlinear models. A state estimator which uses linearized models can be a solution to a problem where high accuracy is not expected. A state estimator which can be designed to use the nonlinearity as it is coming from the original model has always been invaluable in which high accuracy is expected. Thus to accomplish the above highlighted point, pseudolinear measurement model is directly applied to the Kalman filter equations without losing the original nonlinearity. We address the pseudolinear bias problem through simple geometry translation of system states. This system is simulated using Matlab for vehicle-landmarks system and results show that the new approach performs much accurately compared to that of well known extended Kalman filter (EKF).

关键词： Simultaneous localization and mapping State estimation Mobile robots Mathematical model Remotely operated vehicles Current measurement Navigation Motion estimation Recursive estimation Gain measurement

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Bipedal Locomotion control via CPGs with Coupled Nonlinear Oscillators

Bipedal Locomotion Control via CPGs with Coupled Nonlinear O...

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International Conference on Mechatronics (ICM)

作者： Maki K. Habib Guang Lei Liu Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Saga University Japan

This paper describes the design and analysis of a biologically inspired central pattern generator (CPG) using a network of mutually coupled nonlinear oscillators to generate rhythmic walking pattern for biped robots. The paper examines the characteristics of a CPG model composed of a network of nonlinear oscillators, and the effect of assigning symmetrical and asymmetrical coupling mechanism among oscillators within the network structure under different possibilities of inhibitions and excitations. The paper highlights the necessity to understand the targeted physical system and its functionalities before concluding the design parameters of the CPG. In addition, the paper considers the way in which the sensory feedback contributes to generate adaptive walking trajectory and enhance gait stability, and how the driving input and external perturbation affect the speed of locomotion and change the period of its own active phase. Modeling of bipedal robot using a CPG based controller and a musculo-skeletal system has been achieved for the purpose to realize the interaction with each other and to study the necessary conditions for stable dynamic walking on dynamic terrain that lead to stable and sustained response from the network. The kinematics and dynamics of a five-link biped robot has been modeled and its joints are actuated through simulation by the proportional torques output from the CPG to generate the trajectories for hip, knee, and ankle joints. The CPG based bipedal locomotion is carried out and evaluated through simulations using MATLAB.

关键词： Oscillators Legged locomotion Mathematical model Pattern analysis Mutual coupling Biological system modeling Feedback Stability Robot sensing systems Kinematics

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Kansei with behavioral patterns for human-robot interaction in ubiquitous environments

Kansei with behavioral patterns for human-robot interaction ...

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作者： Balasuriya, Janaka Chaminda Kamohara, Kouhei Marasinghe, Chandrajith Ashuboda Watanabe, Keigo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Saga University 1-Honjomachi Saga 840-8502 Japan Software Engineering Lab. Department of Computer Software University of Aizu Aizu-Wakamatsu Fukushima Japan

ISBN: (纸本)9784990288013

Humans have two distinct features with compared to any other living being;unique physical nature and emotions / feelings. Anybody who studies on humans or trying to construct human like machines should consider these two vital facts. When robots are interacting with humans and other objects, they certainly have a safe distance between them and the object. But how can this distance be optimized when interacting with humans? Will there be any advantages over achieving this? Will it help to improve the condition of robots? Can it be a mere constant distance? How will the humans react? In order to 'humanize' robots, they (robots) should also have certain understating of such emotions that we, humans have. In this research project, authors are trying to 'teach' one such human understanding, commonly known as 'personal space' to autonomous mobile robots. ©ISAROB 2007.

关键词： Human robot interaction

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EMG-Based Neuro-Fuzzy control of a 4DOF Upper-Limb Power-Assist Exoskeleton

EMG-Based Neuro-Fuzzy Control of a 4DOF Upper-Limb Power-Ass...

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29th Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBS 2007), vol.8

作者： Kazuo Kiguchi Yasunobu Imada Manoj Liyanage Department of Advanced Systems Control Engineering Saga University Saga Saga Japan Graduate student at the Department of Advanced Systems Control Engineering Saga University Saga Saga Japan

We have been developing a 4DOF exoskeleton robot system in order to assist shoulder vertical motion, shoulder horizontal motion, elbow motion, and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The robot is directly attached to a user's body and activated based on EMG (Electromyogram) signals of the user's muscles, since the EMG signals directly reflect the user's motion intention. A neuro-fuzzy controller has been applied to control the exoskeleton robot system. In this paper, controller adaptation method to user's EMG signals is proposed. A motion indicator is introduced to indicate the motion intention of the user for the controller adaptation. The experimental results show the effectiveness of the proposed method.

关键词： Exoskeletons Shoulder Muscles Wrist Electromyography Elbow Motion control Mobile robots Potentiometers Force sensors

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The Design of Fuzzy Energy Regions Optimized by GA for a Switching control of Multi-Link Underactuated Manipulators

The Design of Fuzzy Energy Regions Optimized by GA for a Swi...

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2007 International Conference on control, Automation and systems (ICCAS 2007), vol.4

作者： Kiyotaka Izumi Keigo Watanabe Keisuke Ichida Yoshihiro Tachibana Department of Advanced Systems Control Engineering Saga University South Korea

One of control methods used in underactuated manipulators is known as a switching control, which selects a partially-stable controller with a prespecified switching rule. A switching computed torque control integrated with a fuzzy-energy regions method has been proposed, and applied to control a two degrees-of-freedom (dofs) underactuated manipulator with one active degree-of-freedom (dof) and one passive dof. The energy space used to design the switching rules was a two-dimensional space. However, it is difficult to design a controller for underactuated systems with more than two-dofs. In this paper, we propose a switching rule for three-dofs underactuated manipulator with suitable mapping to reduce the dimension of energy space. The effectiveness of the proposed method is illustrated through simulations with a three-dofs underactuated manipulator.

关键词： Underactuated manipulator Switching control Nonholonomic system Fuzzy reasoning Genetic algorithm

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