701 research outputs found
Design and implementation of membrane controllers for trajectory tracking of nonholonomic wheeled mobile robots
YesThis paper proposes a novel trajectory tracking control approach for nonholonomic wheeled mobile robots. In this approach, the
integration of feed-forward and feedback controls is presented to design the kinematic controller of wheeled mobile robots, where the control law
is constructed on the basis of Lyapunov stability theory, for generating the precisely desired velocity as the input of the dynamic model of wheeled
mobile robots; a proportional-integral-derivative based membrane controller is introduced to design the dynamic controller of wheeled mobile
robots to make the actual velocity follow the desired velocity command. The proposed approach is defined by using an enzymatic numerical
membrane system to integrate two proportional-integral-derivative controllers, where neural networks and experts’ knowledge are applied to
tune parameters. Extensive experiments conducted on the simulated wheeled mobile robots show the effectiveness of this approach.The work of XW and GZ is supported by the National Natural Science Foundation of China (61170016, 61373047). The work of MG, FI and RL was supported by a grant of the Romanian National Authority for Scientific Research, CNCS-UEFISCDI (project number: PN-II-ID-PCE-2011-3-0688)
Motion Planning and Control for the Locomotion of Humanoid Robot
This thesis aims to contribute on the motion planning and control problem of the locomotion
of humanoid robots. For the motion planning, various methods were proposed
in different levels of model dependence. First, a model free approach was proposed
which utilizes linear regression to estimate the relationship between foot placement
and moving velocity. The data-based feature makes it quite robust to handle modeling
error and external disturbance. As a generic control philosophy, it can be applied to
various robots with different gaits. To reduce the risk of collecting experimental data
of model-free method, based on the simplified linear inverted pendulum model, the
classic planning method of model predictive control was explored to optimize CoM
trajectory with predefined foot placements or optimize them two together with respect
to the ZMP constraint. Along with elaborately designed re-planning algorithm and
sparse discretization of trajectories, it is fast enough to run in real time and robust
enough to resist external disturbance. Thereafter, nonlinear models are utilized for
motion planning by performing forward simulation iteratively following the multiple
shooting method. A walking pattern is predefined to fix most of the degrees of the
robot, and only one decision variable, foot placement, is left in one motion plane and
therefore able to be solved in milliseconds which is sufficient to run in real time. In
order to track the planned trajectories and prevent the robot from falling over, diverse
control strategies were proposed according to the types of joint actuators. CoM stabilizer
was designed for the robots with position-controlled joints while quasi-static
Cartesian impedance control and optimization-based full body torque control were
implemented for the robots with torque-controlled joints. Various scenarios were set
up to demonstrate the feasibility and robustness of the proposed approaches, like
walking on uneven terrain, walking with narrow feet or straight leg, push recovery
and so on
Biomimetic Manipulator Control Design for Bimanual Tasks in the Natural Environment
As robots become more prolific in the human environment, it is important that safe operational
procedures are introduced at the same time; typical robot control methods are
often very stiff to maintain good positional tracking, but this makes contact (purposeful
or accidental) with the robot dangerous. In addition, if robots are to work cooperatively
with humans, natural interaction between agents will make tasks easier to perform with
less effort and learning time. Stability of the robot is particularly important in this
situation, especially as outside forces are likely to affect the manipulator when in a close
working environment; for example, a user leaning on the arm, or task-related disturbance
at the end-effector.
Recent research has discovered the mechanisms of how humans adapt the applied force
and impedance during tasks. Studies have been performed to apply this adaptation to
robots, with promising results showing an improvement in tracking and effort reduction
over other adaptive methods. The basic algorithm is straightforward to implement,
and allows the robot to be compliant most of the time and only stiff when required by
the task. This allows the robot to work in an environment close to humans, but also
suggests that it could create a natural work interaction with a human. In addition, no
force sensor is needed, which means the algorithm can be implemented on almost any
robot.
This work develops a stable control method for bimanual robot tasks, which could also
be applied to robot-human interactive tasks. A dynamic model of the Baxter robot is
created and verified, which is then used for controller simulations. The biomimetic control
algorithm forms the basis of the controller, which is developed into a hybrid control
system to improve both task-space and joint-space control when the manipulator is disturbed
in the natural environment. Fuzzy systems are implemented to remove the need
for repetitive and time consuming parameter tuning, and also allows the controller to
actively improve performance during the task. Experimental simulations are performed,
and demonstrate how the hybrid task/joint-space controller performs better than either
of the component parts under the same conditions. The fuzzy tuning method is then applied
to the hybrid controller, which is shown to slightly improve performance as well as
automating the gain tuning process. In summary, a novel biomimetic hybrid controller
is presented, with a fuzzy mechanism to avoid the gain tuning process, finalised with a
demonstration of task-suitability in a bimanual-type situation.EPSR
Assisting Human Motion-Tasks with Minimal, Real-time Feedback
Teaching physical motions such as riding, exercising, swimming, etc. to human beings is hard. Coaches face difficulties in communicating their feedback verbally and cannot correct the student mid-action; teaching videos are two dimensional and suffer from perspective distortion. Systems that track a user and provide him real-time feedback have many potential applications: as an aid to the visually challenged, improving rehabilitation, improving exercise routines such as weight training or yoga, teaching new motion tasks, synchronizing motions of multiple actors, etc. It is not easy to deliver real-time feedback in a way that is easy to interpret, yet unobtrusive enough to not distract the user from the motion task. I have developed motion feedback systems that provide real-time feedback to achieve or improve human motion tasks. These systems track the user\u27s actions with simple sensors, and use tiny vibration motors as feedback devices. Vibration motors provide feedback that is both intuitive and minimally intrusive. My systems\u27 designs are simple, flexible, and extensible to large-scale, full-body motion tasks. The systems that I developed as part of this thesis address two classes of motion tasks: configuration tasks and trajectory tasks. Configuration tasks guide the user to a target configuration. My systems for configuration tasks use a motion-capture system to track the user. Configuration-task systems restrict the user\u27s motions to a set of motion primitives, and guide the user to the target configuration by executing a sequence of motion-primitives. Trajectory tasks assume that the user understands the motion task. The systems for trajectory tasks provide corrective feedback that assists the user in improving their performance. This thesis presents the design, implementation, and results of user experiments with the prototype systems I have developed
Torque vectoring based drive assistance system for turning an electric narrow tilting vehicle
The increasing number of cars leads to traffic congestion and limits parking issue in urban area. The narrow tilting vehicles therefore can potentially become the next generation of city cars due to its narrow width. However, due to the difficulty in leaning a narrow tilting vehicle, a drive assistance strategy is required to maintain its roll stability during a turn. This article presents an effective approach using torque vectoring method to assist the rider in balancing the narrow tilting vehicles, thus reducing the counter-steering requirements. The proposed approach is designed as the combination of two torque controllers: steer angle–based torque vectoring controller and tilting compensator–based torque vectoring controller. The steer angle–based torque vectoring controller reduces the counter-steering process via adjusting the vectoring torque based on the steering angle from the rider. Meanwhile, the tilting compensator–based torque vectoring controller develops the steer angle–based torque vectoring with an additional tilting compensator to help balancing the leaning behaviour of narrow tilting vehicles. Numerical simulations with a number of case studies have been carried out to verify the performance of designed controllers. The results imply that the counter-steering process can be eliminated and the roll stability performance can be improved with the usage of the presented approach
Advanced Intelligent Control in Robots
[Abstract not available.
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