342 research outputs found
Fast moving of a population of robots through a complex scenario
Swarm robotics consists in using a large number of coordinated autonomous robots, or agents, to accomplish one or more tasks, using local and/or global rules. Individual and collective objectives can be designed for each robot of the swarm. Generally, the agents' interactions exhibit a high degree of complexity that makes it impossible to skip nonlinearities in the model. In this paper, is implemented both a collective interaction using a modified Vicsek model where each agent follows a local group velocity and the individual interaction concerning internal and external obstacle avoidance. The proposed strategies are tested for the migration of a unicycle robot swarm in an unknown environment, where the effectiveness and the migration time are analyzed. To this aim, a new optimal control method for nonlinear dynamical systems and cost functions, named Feedback Local Optimality Principle - FLOP, is applied
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots
This paper contributes towards the development and comparison of
Divergent-Component-of-Motion (DCM) based control architectures for humanoid
robot locomotion. More precisely, we present and compare several DCM based
implementations of a three layer control architecture. From top to bottom,
these three layers are here called: trajectory optimization, simplified model
control, and whole-body QP control. All layers use the DCM concept to generate
references for the layer below. For the simplified model control layer, we
present and compare both instantaneous and Receding Horizon Control
controllers. For the whole-body QP control layer, we present and compare
controllers for position and velocity control robots. Experimental results are
carried out on the one-meter tall iCub humanoid robot. We show which
implementation of the above control architecture allows the robot to achieve a
walking velocity of 0.41 meters per second.Comment: Submitted to Humanoids201
The Wheelbot: A Jumping Reaction Wheel Unicycle
Combining off-the-shelf components with 3Dprinting, the Wheelbot is a
symmetric reaction wheel unicycle that can jump onto its wheels from any
initial position. With non-holonomic and under-actuated dynamics, as well as
two coupled unstable degrees of freedom, the Wheelbot provides a challenging
platform for nonlinear and data-driven control research. This paper presents
the Wheelbot's mechanical and electrical design, its estimation and control
algorithms, as well as experiments demonstrating both self-erection and
disturbance rejection while balancing.Comment: 8 pages, 13 figures, 2 tables, Accepted final version to appear in
IEEE Robotics and Automation Letter
Design and simulate of LQR-Fuzzy controller for unicycle robot with double flywheels
This research is focus on design and simulate unicycle robot with double flywheels model with LQR-Fuzzy controller. Roll balancing torque is generated by gyroscopic effect. Pitch balancing torque is applied by inverted pendulum concept. To control the heading of the robot, the angular momentum from both flywheel is applied to control this. The robot model is based on Euler-Lagrange equations. The non-linear model is linearization by Taylor series expansion. The simulation results conducted by MATLAB/Simulink. LQR-Fuzzy is combination algorithm between LQR and Fuzzy controller. The main structure control is the LQR controller and use the Fuzzy controller to adjust the close loop controller gain. The simulation results is simulated and compared with conventional LQR
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