131 research outputs found
Pattern Generation for Walking on Slippery Terrains
In this paper, we extend state of the art Model Predictive Control (MPC)
approaches to generate safe bipedal walking on slippery surfaces. In this
setting, we formulate walking as a trade off between realizing a desired
walking velocity and preserving robust foot-ground contact. Exploiting this
formulation inside MPC, we show that safe walking on various flat terrains can
be achieved by compromising three main attributes, i. e. walking velocity
tracking, the Zero Moment Point (ZMP) modulation, and the Required Coefficient
of Friction (RCoF) regulation. Simulation results show that increasing the
walking velocity increases the possibility of slippage, while reducing the
slippage possibility conflicts with reducing the tip-over possibility of the
contact and vice versa.Comment: 6 pages, 7 figure
Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp
Grasping objects by continuum arms or fingers is a new field of interest in robotics. Continuum manipulators have the advantages of high adaptation and compatibility with respect to the object shape. However, due to their extremely nonlinear behavior and infinite degrees of freedom, continuum arms cannot be easily modeled. In fact, dynamics modeling of continuum robotic manipulators is state-of-the-art. Using the exact modeling approaches, such as theory of Cosserat rod, the resulting models are either too much time-taking for computation or numerically unstable. Thus, such models are not suitable for applications such as real-time control. However, based on realistic assumptions and using some approximations, these systems can be modeled with reasonable computational efforts. In this paper, a planar continuum robotic arm is modeled, considering its backbone as two circular arcs. In order to simulate finger grasping, the continuum arm experiences a point-force along its body. Finally, the results are validated using obtained experimental data
Dynamics Modeling and Control of a Quadrotor with Swing Load
Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in order to control the position and attitude of the quadrotor. The performance of this proposed controller is evaluated by nonlinear simulations and, finally, the results demonstrate the effectiveness of the control strategy for the quadrotor with suspended load in various maneuvers
Monitoring the Postural Stability of Planar Bipedal Robots using the Moment-Height Stability Measure
Prevalence and antimicrobial resistance of shigella species isolated from diarrheal patients in Ahvaz, Southwest Iran
Introduction: Shigellosis is a significant global human health problem, and Shigella is in charge of almost 165 million cases of this disease annually, of whom 163 million cases are in developing countries and 1.5 million cases are in developed countries. The main aims of the current survey were to identify Shigella spp. isolated from diarrheal patients by conventional biochemical tests, determine the antimicrobial susceptibility profiles by disk diffusion method, and detect the ipaH gene using the PCR assay. Methods: The bacterial isolates were identified as Shigella spp. by microbiological tests and were serogrouped by the slide agglutination test. Antimicrobial susceptibility testing was performed using the disk diffusion method. PCR was performed to detect the ipaH gene. Results: The Shigella strains were isolated from 522 patients with various diarrhea, including bloody diarrhea (3), mucoid plus bloody diarrhea (1.9), mucoid diarrhea (3.2), and watery diarrhea (3.2). Overall, 69 (13.2) isolates were positive for Shigella spp., of which 34 (49.3) serotypes were identified as Shigella flexneri, 22 (31.9) serotypes were identified as Shigella sonnei, 9 (13) serotypes were identified as Shigella boydii, and 4 (5.8) serotypes were identified as Shigella dysenteriae. Antibiotic susceptibility tests revealed that the highest resistance percentage was related to ampicillin (82) and trimethoprim-sulfamethoxazole (77), and ciprofloxacin and ceftriaxone were the best antibiotics against Shigella isolates. Conclusion: We concluded that Shigella spp. can be considered as an etiological agent of diarrhea in southwest Iran. Since the drug resistance pattern of Shigella differs geographically and over time within a country, continuous and regular surveillance program is necessary. © 2019 Sheikh et al
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