Smooth control of an articulated mobile robot with switching constraints

The paper describes a smooth controller of an articulated mobile robot with switching constraints. The use of switching constraints associated with grounded/lifted wheels is an effective method of controlling various motions; e.g. the avoidance of a moving obstacle. A model of an articulated mobile robot that has active and passive wheels and active joints with switching constraints is derived. A controller that accomplishes the trajectory tracking of the robot’s head and subtasks using smooth joint input is proposed on the basis of the model. Simulations and experiments are presented to show the effectiveness of the proposed controller

Motion control of a snake robot moving between two non-parallel planes

A control method that makes the head of a snake robot follow an arbitrary trajectory on two non-parallel planes, including coexisting sloped and flat planes, is presented. We clarify an appropriate condition of contact between the robot and planes and design a controller for the part of the robot connecting the two planes that satisfies the contact condition. Assuming that the contact condition is satisfied, we derive a simplified model of the robot and design a controller for trajectory tracking of the robot’s head. The controller uses kinematic redundancy to avoid violating the limit of the joint angle and a collision between the robot and the edge of a plane. The effectiveness of the proposed method is demonstrated in experiments using an actual robot

Development and Control of Articulated Mobile Robot for Climbing Steep Stairs

In this paper, we develop an articulated mobile robot that can climb stairs, and also move in narrow spaces and on 3-D terrain. This paper presents two control methods for this robot. The first is a 3-D steering method that is used to adapt the robot to the surrounding terrain. In this method, the robot relaxes its joints, allowing it to adapt to the terrain using its own weight, and then, resumes its motion employing the follow-the-leader method. The second control method is the semi-autonomous stair climbing method. In this method, the robot connects with the treads of the stairs using a body called a connecting part, and then shifts the connecting part from its head to its tail. The robot then uses the sensor information to shift the connecting part with appropriate timing. The robot can climb stairs using this method even if the stairs are steep, and the sizes of the riser and the tread of the stairs are unknown. Experiments are performed to demonstrate the effectiveness of the proposed methods and the developed robot

Electronic Musical Instrument to Generate Musical Tones to Imitate a Stringed Instrument

Provided are an electronic musical instrument, computer storage device, and method for generating tone. A sound source in an electronic musical instrument generates a first tone at a first pitch in response to a first tone generation instruction received by an input device of the electronic musical instrument. A second tone generation instruction is received to generate a second tone at a second pitch while generating the first tone at the sound source. A determination is made of a pitch difference of the first and the second pitches. The sound source is controlled to generate the second tone and to not generate the first tone in response to determining that the pitch difference does not exceed a predetermined number of tones. The sound source is controlled to generate the second tone in response to determining that the pitch difference exceeds the predetermined number of tones

Slowed response to peripheral visual stimuli during strenuous exercise

Recently, we proposed that strenuous exercise impairs peripheral visual perception because visual responses to peripheral visual stimuli were slowed during strenuous exercise. However, this proposal was challenged because strenuous exercise is also likely to affect the brain network underlying motor responses. The purpose of the current study was to resolve this issue. Fourteen participants performed a visual reaction-time (RT) task at rest and while exercising at 50% (moderate) and 75% (strenuous) peak oxygen uptake. Visual stimuli were randomly presented at different distances from fixation in two task conditions: the Central condition (2° or 5° from fixation) and the Peripheral condition (30° or 50° from fixation). We defined premotor time as the time between stimulus onset and the motor response, as determined using electromyographic recordings. In the Central condition, premotor time did not change during moderate (167 ± 19 ms) and strenuous (168 ± 24 ms) exercise from that at rest (164 ± 17 ms). In the Peripheral condition, premotor time significantly increased during moderate (181 ± 18 ms, P < 0.05) and strenuous exercise (189 ± 23 ms, P < 0.001) from that at rest (173 ± 17 ms). These results suggest that increases in Premotor Time to the peripheral visual stimuli did not result from an impaired motor-response network, but rather from impaired peripheral visual perception. We conclude that slowed response to peripheral visual stimuli during strenuous exercise primarily results from impaired visual perception of the periphery

Task-Space Control of Articulated Mobile Robots With a Soft Gripper for Operations

A task-space method is presented for the control of a head-raising articulated mobile robot, allowing the trajectory tracking of a tip of a gripper located on the head of the robot in various operations, e.g., picking up an object and rotating a valve. If the robot cannot continue moving because it reaches a joint angle limit, the robot moves away from the joint limit and changes posture by switching the allocation of lifted/grounded wheels. An articulated mobile robot with a gripper that can grasp objects using jamming transition was developed, and experiments were conducted to demonstrate the effectiveness of the proposed controller in operations

Control of a snake robot for passing through a self-closing door

We propose the control method for a snake robot to pass through a self-closing door. The proposed method is realized by applying the two-point simultaneous control method. The position and orientation of head and tail of the robot are controlled simultaneously by using the two-point simultaneous control method. By controlling the position and orientation of the head of the robot, the robot opens the door and keeps it open. At the same time, the robot enters through the door from the tail by controlling the tail of the robot simultaneously. The robot passes through the door by pushing away the side of the door with the body. The proposed method enables the robot to enter the interior separated by a door and contributes to the expansion of the activity environment for snake robots. The experimental result validates the proposed methods

Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation

This letter presents a simultaneous trajectory tracking control method for two points of a snake robot. The kinematic model considering two regulated points is determined as a switched system that is switched by lifting a few wheels. The system becomes a kinematically redundant system by the lifting of the wheels; however, it has to prevent two types of singular configurations; one is the traditional one, and the other is caused by regulating two points simultaneously. Using this redundancy and selecting the lifted wheels, we design a trajectory tracking controller for two points by preventing the two types of singular configurations. The effectiveness of the proposed control method was demonstrated by tracking experiments as well as applications, namely, the transportation of an object by caging manipulation and the steering of a handcart

Three-dimensional steering for an articulated mobile robot with prismatic joints with consideration of hardware limitations

The paper presents a three-dimensional steering method for an articulated mobile robot that contains links, rotational joints, prismatic joints, and active wheels. The robot can change the angles of its links using the rotational joints and vary the lengths of its links using the prismatic joints. The target motion of this robot is represented by a continuous curve and the motions of the joints and the wheels are calculated by fitting the entire robot to this target curve. The forward velocity of the robot\u27s head is adjusted to satisfy the hardware limitations of the robot; e.g. joint angle, joint velocity, and wheel velocity limitations. In addition, a terrain-following method is presented that considers the changes in the lengths of the links. An experimental articulated mobile robot was developed and experiments were carried out to demonstrate the effectiveness of the proposed method