As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the vir...
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As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.
This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative su...
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This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.
Driver's head behavior detection is very important for safe driving and smart driving. It can be judged based on changes in driver's head pose. In this paper, we propose a driver's head pose estimation met...
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Single image depth estimation is a challenging problem and provides many application scenarios like object detection, pose calculation and path planning. To avoid the large data restriction in specific applications wi...
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Permanent magnet synchronous motors(PMSM) are popular in AC motor applications due to their small size, high efficiency. They have appeared widely in various areas of life. Due to the high-frequency chattering problem...
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ISBN:
(纸本)9781665426480
Permanent magnet synchronous motors(PMSM) are popular in AC motor applications due to their small size, high efficiency. They have appeared widely in various areas of life. Due to the high-frequency chattering problem caused by sliding mode observer sensorless control of PMSM, an SMO with piecewise control function is designed in this paper. At the same time, based on the back EMF output of the SMO, the gain of the SMO is adapted to reduce the system bucket vibration problem caused by the conventional SMO. Finally, a simulation experiment was carried out in MATLAB/SIMULINK and compared with the conventional SMO. The results show that the improved SMO has achieved a better control effect.
For large and complex manufacturing industries such as aviation, high-speed rail, and ship building, some assembly processes are complex and cannot be fully automated. Manual assembly is the main requirement, which pu...
For large and complex manufacturing industries such as aviation, high-speed rail, and ship building, some assembly processes are complex and cannot be fully automated. Manual assembly is the main requirement, which puts high demands on assembly personnel. Aiming at the problems existing in the current way of operation guidance, a method for assembly operation to guide human-machine interaction, based on the intelligent glasses, is proposed. On the basis of computer vision, the SURF(Speed Up Robust Features) features algorithm, k-means and SVM(Support Vector Machine) constructed word bag model are used in the smart glasses terminal to recognize working station, and then support the process documents query, and a method for complex operation procedures guidance is proposed.
Vector Field Histogram(VFH) and its variants are effective obstacles avoidance method for mobile robots. Under the more consideration of realistic, we proposed a new local path planning method for mobile robot in this...
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The size of the human eye opening and closing plays a certain role in the human-computer interaction platform, such as the PERCLOS parameter commonly used in driver fatigue detection. Considering that the image in the...
The size of the human eye opening and closing plays a certain role in the human-computer interaction platform, such as the PERCLOS parameter commonly used in driver fatigue detection. Considering that the image in the actual application scene is often accompanied by distance, blur, etc., this paper proposes an algorithm based on BiseNet and Vgg methods which can segment the pupil and iris while outputting the realtime opening ratio of the eye.
Focusing on the resource constrained IoT agent collaboration requirements at the edge of the power Internet of things, this paper proposes an edge agent collaborative computation method based on Actor model to satisfy...
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ISBN:
(纸本)9781665420471
Focusing on the resource constrained IoT agent collaboration requirements at the edge of the power Internet of things, this paper proposes an edge agent collaborative computation method based on Actor model to satisfy the rapid processing and response requirements of large-scale data in the perception layer of the power Internet of things. Through a unified programming model, this paper can divide the collection and analysis of sensing data in the sensing layer of the power Internet of things into functional components, which can be deployed in different edge IoT agents, to improve the rapid processing ability of edge-side data. At the same time, the components achieve the function cooperation through the message passing mechanism. Finally, this paper implements the proposed scheme based on Akka framework, and designs the edge IoT agent collaborative computing prototype. The prototype system experiments show that the proposed scheme can split the complex services with high resource requirements into different components and deploy them in different edge IoT agents. The proposed method can improve the resource utilization and data processing capacity of the edge IoT agent of the power Internet of things, while ensuring the real-time requirements of edge service analysis.
Human pose estimation is a fundamental but challenging task in computer vision. Although batch normalization is widely used for deep learning, feature extraction in deep convolutional neural networks (DCNN) is still n...
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