To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of...
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ISBN:
(纸本)9781467355339
To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.
A novel high-performance, low-power and generic-structured distributed visual localization system is proposed for augmenting mobile-robot navigation in intelligent environment. To overcome the influence on visual targ...
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A novel high-performance, low-power and generic-structured distributed visual localization system is proposed for augmenting mobile-robot navigation in intelligent environment. To overcome the influence on visual target perception caused by senor, clustering background and lighting condition changes, a projection based color target recognization method is employed. A new localization algorithm combining Tsai's calibration and polynomial fitting is proposed, as well as a multi-camera collaborative strategy. This improves the accuracy and reliability of the global visual localization in a complex environment. Hardware and software structure of smart sensing nodes based on embedded DSP TMS320DM642 is developed. key functions of real-time visual information acquisition, processing and network interface are integrated in the smart nodes. Application and experiments with the mobile robot navigation control platform verifies the localization accuracy as well as other favorable performances.
Flue gas generator set is a kind of large high-speed rotating machinery in petrochemical *** research focuses on noise reduction algorithms basis ontheBirgé-*** the threshold through Penalization Strategy Provide...
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Flue gas generator set is a kind of large high-speed rotating machinery in petrochemical *** research focuses on noise reduction algorithms basis ontheBirgé-*** the threshold through Penalization Strategy Provided by Birgé-Massart;constructed different modulus maximum vertex neighborhood on different wavelet transform decomposition scales to influence the search process of modulus maximum point;obtained the appropriate modulus maximum points sequence on various wavelet decomposition scales;highlighted state feature information;finally usedMallat staggered projection to reconstruct *** order to validate the effectiveness of the algorithm,it was compared with four kinds of threshold noise suppression methods namely Rigrsure,Sqtwolog,Heursure,*** results show that this algorithm has a better signal to noise ratio and mean-square error.
Finite-time control(FTC) for soft landing on an asteroid problem is considered in this ***,based on the design philosophy of cascaded system,the landing error dynamics of asteroid probe are divided into two subsystems...
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ISBN:
(纸本)9781479900305
Finite-time control(FTC) for soft landing on an asteroid problem is considered in this ***,based on the design philosophy of cascaded system,the landing error dynamics of asteroid probe are divided into two subsystems,including a position error subsystem(PES) and a line-of-sight angle error subsystem(LOSAES).Secondly,homogeneous system technique is employed to design the controller for LOSAES such that the states of LOSAES will be stabilized to the origin in finite time. Then,a finite-time controller is designed for the reduced PES subsystem such that the rest states will converge to zero in finite *** analysis shows that the whole system satisfies the finite time *** effectiveness of the proposed method is illustrated by simulation results.
The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP ...
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The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP (iterative closest point) algorithm, corner feature matching based HAYAI algorithm, as well as point-line matching based PLICP algorithm, were used respectively to estimate the relative displacement between two consecutive measurements to calibrate the localization result from odometer approaches. Better accuracy of long-range localization of indoor mobile robot could be achieved thereby. In the simulation, both the real-time property and accuracy of the mentioned three methods used were compared, showing the effectiveness and application field of the methods.
One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anth...
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In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-...
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In this paper,finite-time consensus problem is investigated for multi-AUV(autonomous underwater vehicle) systems. Based on homogeneous control method,finite-time consensus algorithms are proposed for both leaderless a...
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ISBN:
(纸本)9781479900305
In this paper,finite-time consensus problem is investigated for multi-AUV(autonomous underwater vehicle) systems. Based on homogeneous control method,finite-time consensus algorithms are proposed for both leaderless and leader-follower multi-AUV ***,in the leader-follower case,a novel distributed finite-time observer is developed for the followers to estimate the leader's *** demonstrate the effectiveness of the proposed control algorithms.
In this paper,a wavelet packet based adaptive filter-bank construction method is proposed,with additive Fisher ratio used as wavelet packet tree pruning criterion.A novel acoustic feature named discriminative band wav...
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In this paper,a wavelet packet based adaptive filter-bank construction method is proposed,with additive Fisher ratio used as wavelet packet tree pruning criterion.A novel acoustic feature named discriminative band wavelet packet power coefficients(db-WPPC) is proposed and on this basis,a speech emotion recognition system is *** results show that the proposed feature improves emotion recognition performance over the conventional MFCC feature.
The problem of robust stabilization for a class of SISO uncertain nonlinear Differential-Algebraic Eqyatuion subsystems is considered in this paper. The robust stabilization controller is proposed based on backsteppin...
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