Inertial motion capture based teleoperation of a mobile robot manipulator with a multigrasp hand

Autonomous mobile robots are still not reliable enough for performing complex tasks such as search and rescue, space or undersea exploration and explosive ordnance disposal. Human intelligence is frequently employed for high-level robot decision making and control. Moreover, for most of the cases low-weight and dexterous end-effectors are required for performing delicate tasks efficiently

Inertial motion capture based teleoperation of a mobile robot manipulator with a multigrasp hand

Autonomous mobile robots are still not reliable enough for performing complex tasks such as search and rescue, space or undersea exploration and explosive ordnance disposal. Human intelligence is frequently employed for high-level robot decision making and control. Moreover, for most of the cases low-weight and dexterous end-effectors are required for performing delicate tasks efficiently

Novel Levenberg–Marquardt based learning algorithm for unmanned aerial vehicles

In this paper, Levenberg–Marquardt inspired sliding mode control theory based adaptation laws are proposed to train an intelligent fuzzy neural network controller for a quadrotor aircraft. The proposed controller is used to control and stabilize a quadrotor unmanned aerial vehicle in the presence of periodic wind gust. A proportional-derivative controller is firstly introduced based on which fuzzy neural network is able to learn the quadrotor's control model on-line. The proposed design allows handling uncertainties and lack of modelling at a computationally inexpensive cost. The parameter update rules of the learning algorithms are derived based on a Levenberg–Marquardt inspired approach, and the proof of the stability of two proposed control laws are verified by using the Lyapunov stability theory. In order to evaluate the performance of the proposed controllers extensive simulations and real-time experiments are conducted. The 3D trajectory tracking problem for a quadrotor is considered in the presence of time-varying wind conditions

Internal motion capture based teleoperation of a mobile robot manipulator

In this work, a full-body inertial human motion capture system Xsens MVN was used to control the Kuka youBot mobile manipulator

Internal motion capture based teleoperation of a mobile robot manipulator

In this work, a full-body inertial human motion capture system Xsens MVN was used to control the Kuka youBot mobile manipulator