This paper presents a balance control approach for a biped robot by regulating COM position with the help of proper foot placement in response to external perturbation. The proposed approach detects present postural a...
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This paper presents a balance control approach for a biped robot by regulating COM position with the help of proper foot placement in response to external perturbation. The proposed approach detects present postural and stability state of robot through sensory data from Attitude and Heading Reference System (AHRS) and foot force sensors; and in case of external push, recovers the balance and posture of the robot by foot placement in appropriate direction. The foot placement is carried out using one of the alternative or rescue trajectories already available in the memory of the robot. The rescue trajectories are developed for both sagittal and lateral plane and the strategy for switching from current trajectory to the rescue trajectory and then back to the normal trajectory is discussed in detail. The proposed balance recovery approach is then implemented on a biped robot and is experimentally verified.
A new sensor with piezoelectric ceramic is designed for Structural Health Monitoring on high voltage transmission cable used for exciting elastic wave on the surface of transmission cable to obtain the propagation cha...
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A new sensor with piezoelectric ceramic is designed for Structural Health Monitoring on high voltage transmission cable used for exciting elastic wave on the surface of transmission cable to obtain the propagation characteristics. Based on an experimental setup with two transducers, a signal generator and a data acquisition system, the dispersive curve of guided wave in the transmission cable is measured through Gabor wavelet transform. The results show that there are at least four modes above 30 kHz, but there are only two modes below 30 kHz, which is suitable for the research of SHM. Another experiment for the dam ping of elastic wave on the transmission cable is carried out. The curve of the relationship between amplitude attenuation and propagating distance is achieved. The influence of frequency on peak value is researched. Results show that the wave attenuation is exponential function.
This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compl...
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With the uncertainty in the prices of feedstock, energy and finished products, the profit optimization plays a critical role in making a chemical production enterprise more dynamic and flexible to adapt the changes in...
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The reliability of AFM based nanomanipulation is one of the prerequisites for nano fabricating, thus uncertainties of the target nano-particle position need to be controlled within a pointed limits, which lead to two ...
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A novel approach to estimate localizability for mobile robots is presented based on probabilistic grid map (PGM). Firstly, a static localizability matrix is proposed for off-line estimation over the priori PGM. Then a...
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A novel approach to estimate localizability for mobile robots is presented based on probabilistic grid map (PGM). Firstly, a static localizability matrix is proposed for off-line estimation over the priori PGM. Then a dynamic localizability matrix is proposed to deal with unexpected dynamic changes. These matrices describe both localizability index and localizability direction quantitatively. The validity of the proposed method is demonstrated by experiments in different typical environments. Furthermore, two typical localization-related applications, including active global localization and pose tracking, are presented for illustrating the effectiveness of the proposed localizability estimation method.
Because of the complexity of shaped surface structure of those critical high performance work pieces of high-end equipment, the requirement of those work pieces is very high. The main requirement of these parts is abo...
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In order to handle the model uncertainty and the external disturbance, a robust attitude control method for helicopter robots is proposed in this paper. Unscented Kalman Filter (UKF) and backstepping technique are ado...
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ISBN:
(纸本)9781467313971
In order to handle the model uncertainty and the external disturbance, a robust attitude control method for helicopter robots is proposed in this paper. Unscented Kalman Filter (UKF) and backstepping technique are adopted in the attitude control design. Model-based backstepping control is presented to keep the desired helicopter attitude. UKF is employed for online estimation of both motion states and model errors of the helicopter. Such estimation results are further incorporated into the controller of helicopter. The backstepping control enhanced by real time model errors feedback can achieve a robust tracking performance even with the occurrence of external disturbance. Simulations conducted on the helicopter illustrate the effectiveness of the proposed attitude control.
In this paper, we proposed an architecture of a hierarchical networked urban traffic signal control system Based on Multi-agent. With mobile agent technology, traffic control strategies are designed as traffic control...
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In this paper, we proposed an architecture of a hierarchical networked urban traffic signal control system Based on Multi-agent. With mobile agent technology, traffic control strategies are designed as traffic control agents, which can move from device to device in a network. The system can reconfigure and replace these agents according to inconstant states of traffic environment and performances of agents. By this way, demand-based control is realized in traffic signal control system. Then we described the details and key technologies in the procession of agent-generation, agent-storage and agent-usage. At last, a prototype of the system is developed and basic functions of this system are tested by simulations. These simulations also confirm extensibility and effectiveness of the system.
A visual monitoring network suitable for robotic systems is presented in this paper. The monitoring network is composed of embedded vision nodes. By interacting with an upper computer as well as the robotic system, th...
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