A new humanoid robot capable of various motion is proposed in this paper, which has a 2 DOF waist and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, W...
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A new humanoid robot capable of various motion is proposed in this paper, which has a 2 DOF waist and 2 DOF trunk. A new upper body mechanism is mounted on a leg machine, WABIAN2/LL, and a full scale humanoid robot, WABIAN-2, is constructed in this study. Its trunk is designed to bend forwards, backwards and sideways and rotate in combination with a 2-DOF waist. Also, the upper body is designed in way that makes it able to use a walk-assist machine. Basic walking experiments with and without a walk-assist machine are conducted, and the effectiveness of the mechanism of WABIAN-2 is confirmed
Kinematic isotropy of omnidirectional mobile robots with powered caster wheels is discussed and utilized in optimizing the design parameters of the robots. The analysis is done to cover the most general cases, by obse...
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Kinematic isotropy of omnidirectional mobile robots with powered caster wheels is discussed and utilized in optimizing the design parameters of the robots. The analysis is done to cover the most general cases, by observing the mathematical expression of the equations of motion rather than by numerical evaluation of specific parameters or actuation schemes. Optimal design guidelines are provided. Singularity analysis is given to support the proposed design guidelines. Simulation results are presented to verify the conclusions drawn.
A new method of smooth trajectory generation which can replace typical polynomial type trajectory is suggested. A simple, practical, discrete polynomial-like trajectory generation method which is based on zero final s...
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A new method of smooth trajectory generation which can replace typical polynomial type trajectory is suggested. A simple, practical, discrete polynomial-like trajectory generation method which is based on zero final state constraints was suggested and named ZSPOT. There is a progress about it by allowing nonzero final constraints and named ASPOT. Without watching control issues behind these methods, they are shown only as a new trajectory generation method which is of discrete form so that easily applicable to most practical systems. ZSPOT is applied to a simulation of mobile-manipulator system and the effect of ASPOT is shown through experiment of a linear motor system.
The thruster is the crucial factor of an underwater vehicle system, because it is the lowest layer in the control loop of the system. However, an accurate and practical thruster model has not been utilized yet. In thi...
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The thruster is the crucial factor of an underwater vehicle system, because it is the lowest layer in the control loop of the system. However, an accurate and practical thruster model has not been utilized yet. In this paper, we propose an accurate and practical thrust modeling for underwater vehicles which considers the effects of ambient flow velocity. In this model, the axial flow velocity of the thruster, which is non-measurable, is represented by ambient flow velocity and propeller shaft velocity. Hence, contrary to previous models, the proposed model is practical since it uses only measurable states. Next, the whole thrust map is divided into three states according to the state of ambient flow and propeller shaft velocity, and one of the borders of the states is defined as Critical Advance Ratio (CAR). This classification explains the physical phenomenon of conventional experimental thrust maps. The proposed model is evaluated by comparing experimental data with numerical model simulation data, and it accurately covers overall flow conditions within ± 2N force error. The comparison results show that the new model’s matching performance is significantly better than conventional models’.
In this paper, a new method for adjusting the height of a cylindrical pair in a static environment is presented. Generic force formulations are established. A technique to uniquely identify the type of contact based o...
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This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded pa...
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ISBN:
(纸本)0780388739
This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full-order sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.
This paper describes the development and verification of a dynamic model for a Cartesian manipulator. Experiments and simulations are performed in order to determine the parameters of the established model. Optical sh...
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This paper presents a new approach to create 3D visualization from discrete simulation results. This approach connects discrete event simulation directly to 3D animation with its novel methods of analyzing and convert...
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This paper presents a new approach to create 3D visualization from discrete simulation results. This approach connects discrete event simulation directly to 3D animation with its novel methods of analyzing and converting discrete simulation results into animation events to trigger 3D animation. In addition, it constructs a 3D animation framework for the visualization of discrete simulation results. This framework supports the reuse of both the existing 3D animation objects and behavior components, and allows the rapid development of new 3D animation objects by users with no special knowledge in computer graphics but average computer skills. This approach has been implemented with the software component technology, and successfully applied in industry. Results from its practice in an electronics assembly factory are also provided in the paper to demonstrate the performance of this new approach.
There was a paper on robust controller design framework of teleoperation[10]. This design method strongly depends on the initial setup of the system and can not be applied to the realistic situation which includes the...
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There was a paper on robust controller design framework of teleoperation[10]. This design method strongly depends on the initial setup of the system and can not be applied to the realistic situation which includes the transition motion as free to contact motion because the controllers were separately derived for the free motion and contact motion. Therefore, we want to propose a new design framework which can solve this dependence. To prove the effectiveness of the proposed method, comparative simulation with the existing four channel design method was performed.
This study was aimed at optimizing the structural design of the robot in regards to two main aspects: link shape and link dimension. This paper presents a method to find an optimal function of link cross-sectional rad...
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This study was aimed at optimizing the structural design of the robot in regards to two main aspects: link shape and link dimension. This paper presents a method to find an optimal function of link cross-sectional radius that provides uniform bending stress along the length of a hollow shaft. This method was successfully applied to some other cases such as a hollow rectangle. We also present a method to determine the optimal link lengths of a manipulator with six revolute joints based on the method introduced in [1]. These optimized dimensions minimize average required torque at each joint.
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