Piezoelectric force sensors for hexapod transportation platform

Rough terrain is one of the major issues for transporting various objects to different remote locations. Wheeled platforms or robots are not suitable for such tasks due to a lack of ground clearance. Walking robots, despite their slower speed, can be successfully used as transportation platforms that can overcome the environment. However, leg placing requires accurate supervision and the force sensing system must be developed on each foot to acquire equal force distribution between legs and to obtain stable motion over the irregular surface. In this paper, we investigate the improvement of the hexapod robot’s feet by upgrading them with piezoelectric force sensors. By monitoring force dependence on transferred legs, we establish the most suitable hexapod gait for moving over the even surface

Neural networks based robot motion improvement

This thesis focuses on nature-based algorithms to solve inverse kinematics and motion planning tasks of robotic systems and serial manipulators. Motions in nature can be classified to reflexes, partially and fully coordinated motions. Important step in motion execution – solving problem of inverse kinematics. Analytic method becomes insufficient in real world conditions. This research analyzes single layer and multi-layer perceptron learning in a changing task environment, and their learning rapidity. Methods to increase analytic algorithms accuracy while solving the inverse kinematics problem of a hexapod robot were introduced. Methods for trajectory planning using splines and primitives were analyzed. Algorithms were paralelized

Vytautas Valaitis' Quick Files

The Quick Files feature was discontinued and it’s files were migrated into this Project on March 11, 2022. The file URL’s will still resolve properly, and the Quick Files logs are available in the Project’s Recent Activity

Roboto judesių gerinimas neuroniniais tinklais

This thesis focuses on nature-based algorithms to solve inverse kinematics and motion planning tasks of robotic systems and serial manipulators. Motions in nature can be classified to reflexes, partially and fully coordinated motions. Important step in motion execution – solving problem of inverse kinematics. Analytic method becomes insufficient in real world conditions. This research analyzes single layer and multi-layer perceptron learning in a changing task environment, and their learning rapidity. Methods to increase analytic algorithms accuracy while solving the inverse kinematics problem of a hexapod robot were introduced. Methods for trajectory planning using splines and primitives were analyzed. Algorithms were paralelized

Consumption Quality and Employment Across the Wealth Distribution

<p>In the United States, market hours worked are approximately flat across the wealth<br> distribution. Accounting for this phenomenon is a standing challenge for standard<br> heterogeneous-agent macro models. In these models, wealthier households consume<br> more and work fewer hours. We propose a theory that generates the cross-sectional<br> wealth-hours relation as in the data. We quantify this theory in a heterogeneous-agent<br> incomplete-markets model with three key features: a quality choice in consumption,<br> non-homothetic preferences, and a multi-sector production structure. We show that<br> the model produces consumption expenditure patterns consistent with the data and<br> realistic “quality Engel curves.”</p&gt

Minimizing hexapod robot foot deviations using multilayer perceptron

Rough-terrain traversability is one of the most valuable characteristics of walking robots. Even despite their slower speeds and more complex control algorithms, walking robots have far wider usability than wheeled or tracked robots. However, efficient movement over irregular surfaces can only be achieved by eliminating all possible difficulties, which in many cases are caused by a high number of degrees of freedom, feet slippage, frictions and inertias between different robot parts or even badly developed inverse kinematics (IK). In this paper we address the hexapod robot-foot deviation problem. We compare the foot-positioning accuracy of unconfigured inverse kinematics and Multilayer Perceptron-based (MLP) methods via theory, computer modelling and experiments on a physical robot. Using MLP-based methods, we were able to significantly decrease deviations while reaching desired positions with the hexapod’s foot. Furthermore, this method is able to compensate for deviations of the robot arising from any possible reason

Seeking process maturity with DSDM atern

It is important for an organization to know what capability/maturity of the process a chosen methodology could ensure. This paper is focused on DSDM Atern process maturity by CMMI. The goal is to assess DSDM Atern by CMMI-DEV version 1.3 and propose the improvements to reach CMMI maturity level 3. A capability profile ensured by DSDM Atern has been obtained. The appraisal results showed that DSDM Atern ensures CMMI maturity level 2. Constraints and problematic areas of DSDM Atern methodology were discovered. In order to reach CMMI level 3 some recommendations for DSDM Atern additions were developed