A geometric approach to three-dimensional hipped bipedal robotic walking

This paper presents a control law that results in stable walking for a three-dimensional bipedal robot with a hip. To obtain this control law, we utilize techniques from geometric reduction, and specifically a variant of Routhian reduction termed functional Routhian reduction, to effectively decouple the dynamics of the three-dimensional biped into its sagittal and lateral components. Motivated by the decoupling afforded by functional Routhian reduction, the control law we present is obtained by combining three separate control laws: the first shapes the potential energy of the sagittal dynamics of the biped to obtain stable walking gaits when it is constrained to the sagittal plane, the second shapes the total energy of the walker so that functional Routhian reduction can be applied to decoupling the dynamics of the walker for certain initial conditions, and the third utilizes an output zeroing controller to stabilize to the surface defining these initial conditions. We numerically verify that this method results in stable walking, and we discuss certain attributes of this walking gait

Control of Flexible Joint Robots: A Survey

Coordinated Science Laboratory was formerly known as Control Systems LaboratoryNational Science Foundation / NSF INT 8902476University of Illinois Manufacturing Research CenterUniversity of Illinois Research Boar

The Mechatronics Control Kit for Education and Research

We discuss the use of the Mechatronics Control Kit from Mechatronic Systems, Inc. for control education and research. The Mechatronics Control Kit can be configured with several distinct plants, including a simple DC motor, an inertia wheel pendulum and a Pendubot. The digital electronics are fully integrated and include a Texas Instruments DSP development system, the TMS320C6711 DSK Board (a DSP board with parallel port interface), a PWM output/optical encoder input data acquisition daughter board, a PWM amplifier, and power supplies. We discuss the hardware and software interface and outline a set of experiments that can be performed using this syste

Stability Analysis of Adaptively Controlled Flexible Joint Manipulators

Coordinated Science Laboratory was formerly known as Control Systems LaboratoryU of I Manufacturing Research CenterNational Science Foundatio

Linear and Nonlinear Controller Design for Elastic Joint Manipulators

Coordinated Science Laboratory was formerly known as Control Systems LaboratoryNational Science Foundation / NSF DMC 85-1609

Bilateral Teleoperation of Mobile Robot over Delayed Communication Network: Implementation

In a previous paper we proposed a bilateral teleoperation framework of a wheeled mobile robot over communication channel with constant time delay. In this paper we present experimental results. Our goal is to illustrate and validate the properties of the proposed scheme as well as to present practical implementation issues and the adopted solutions. In particular, the bilaterally teleoperated system is passive and the system is stable in the presence of time delay. Internet has been used as the communication channel and a buffer has been implemented to maintain a constant time delay and to handle packet order

Timing of Delivery and Adverse Outcomes in Term Singleton Repeat Cesarean Deliveries

To compare the maternal and neonatal risks of elective repeat cesarean delivery compared with pregnancy continuation at different gestational ages, starting from 37 weeks

Does Maternal BMI Influence Treatment Effect in Women with Mild Gestational Diabetes?

To determine whether maternal body mass index (BMI) influences the beneficial effects of diabetes treatment in women with gestational diabetes (GDM)

Maternal BMI, glucose tolerance, and adverse pregnancy outcomes

To estimate the association of pregravid body mass index (BMI), independent of 3-hour oral glucose tolerance test (OGTT) results, with pregnancy outcome