Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped r...
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Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.
Human-Robot physical interaction is an important attribute for robots operating in human environments. A Ballbot is an under-actuated system with nonholonomic dynamic constraints. It is a skinny robot with a small bas...
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Human-Robot physical interaction is an important attribute for robots operating in human environments. A Ballbot is an under-actuated system with nonholonomic dynamic constraints. It is a skinny robot with a small base that helps the robot to move in limited space. It is as tall as human height until could interact by people whereas a Ballbot has not been equipped with a manipulator. This manipulator adds new advantages to the Ballbot such as object manipulation and grasping. In this paper and to achieve more performance of a Ballbot, it is equipped with a PUMA type manipulator which gives to the proposed robot the capability of better stabilization. To this end, dynamics equations of the assumed mobile robot is presented and verified. Then, by respecting to this fact that a Ballbot is in the class of under-actuated systems, a control algorithm is proposed to attain the stable motion control of the system. Finally, a simulation routine is performed to move along the desired path/trajectory. Obtained results reveal the merits of the verified model of the new Ballbot and the considered control algorithm which will be discussed.
Due to redundancy and natural instability of humanoid robots, their motion planning becomes a challenging task. Designing stable gaits with smooth trajectories for a humanoid robot is the main goal of this article. Ta...
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Due to redundancy and natural instability of humanoid robots, their motion planning becomes a challenging task. Designing stable gaits with smooth trajectories for a humanoid robot is the main goal of this article. Taking all related parameters on robot's walking into consideration, a new gait planning approach in the task space is developed. Various aspects like upper-body motion and stability requirements have the most significant role in this new gait planning process. In order to reduce undesired fluctuations on robot center of mass a new method in trajectory planning is also suggested. To show performance of the proposed algorithm, it is compared with another reliable approach in this field, and the results will be discussed.
This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristi...
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ISBN:
(纸本)9781467329705
This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.
Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped ***...
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ISBN:
(纸本)9781467329705
Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped *** order to solve this problem,this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability *** foot trajectory is first designed based on the work space *** the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the *** angles of each joint are finally obtained through the inverse kinematics ***,the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.
Crossing a door is usually a necessary action for autonomous patrol of an indoor surveillance robot. However, it is difficult for a large robot to cross narrow doors. In this paper, a method for detecting, locating an...
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ISBN:
(纸本)9781479927456
Crossing a door is usually a necessary action for autonomous patrol of an indoor surveillance robot. However, it is difficult for a large robot to cross narrow doors. In this paper, a method for detecting, locating and crossing a door for an indoor surveillance robot with Kinect is presented. Firstly, doors are detected and located based on RGB-D data collected form Kinect. Then, the conversion between robot coordinate system and world coordinate system is discussed. Thirdly, a nonlinear adaptive controller is designed for the robot to move perpendicularly through the door. Experiments were taken on a surveillance robot and the results illustrated the effectiveness of this method.
Early detection of autism is crucial for successfully dealing with it and reduce/eliminate its effects. In other words, early treatment can make a big difference in the lives of many children with this disorder. Conse...
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ISBN:
(纸本)9781467357661
Early detection of autism is crucial for successfully dealing with it and reduce/eliminate its effects. In other words, early treatment can make a big difference in the lives of many children with this disorder. Consequently, in this study the pattern recognition algorithms are used to determine the unique features of the voice of autistic children to distinguish between the autistic children and normal children between ages 2 and 3. These descriptors extract various audio features such as temporal features, energy features, harmonic features, perceptual and spectral features. Two feature selection methods are used and the results are compared. One method is based on comparing the effect of using all of a group features together and another method compares the effect of using features one by one. The selected features are used to classify selected children into autistic and non-autistic ones. The results show 96.17 percent accuracy. After feature selection, we classified data using S.V.M classifier for recognizing two types of input data.
This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-in...
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This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced ...
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This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced order dynamical model of motion/force. Consider an external wrench on quadruped robots, the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to minimize the optimized objective function with linear equality and inequality constraints, and hybrid motion/force control based on adaptive neural network is used to compensate for the external perturbation in the environment and approximate feedforward force and impedance of the leg joints on line. The verification of the proposed control is conducted using the extensive simulations.
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