IAES International Journal of Robotics and Automation (IJRA)
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Design and Development of Leg-Wheel Hybrid Hexapod along with Machine Learning Algorithm implementation
Get PDFThe conventional mobile robotic platforms which either uses wheels or legs are quite familiar and each one of them has its own advantages and disadvantages. The wheeled robot is suitable for only plain and smooth terrain, whereas the legged robot can travel in any kind of terrain but is comparatively slower than the wheeled robot. So, a hybrid of both wheeled and legged platform would be quite suitable for any kind of terrain. The primary focus of this paper is to design and develop a leg-wheel hybrid robotic platform with a concurrent engineering and mechatronics approach to produce results with optimised design metrics at each and every stage of its development. An overall view of the entire mechatronics system is considered for design and development of the robot at each and every stage rather than a sequential engineering approach
The Control Design of Ship Formation with the Presence of a Leader
Get PDFFormation control is an important behavior for multi-agents system (swarm). This paper addresses the optimal tracking control problem for swarm whose agents are ships moving together in a specific geometry formation. We study formation control of the swarm model which consists of three agents and one agent has a role as a leader. The agents of swarm are moving to follow the leader path. First, we design the control of the leader with Pontryagin Maximum Principle. The control of the leader is designed for tracking the desired path. We show that the tracking error of the path of the leader tracing a desired path is sufficiently small. After that, geometry approach is used to design the control of the other. We show that the positioning and the orientation of each agent can be controlled dependent on the leader. The simulation results show to illustrate of this method at the last section of this paper
Review of Vision-Based Robot Navigation Method
Get PDFVision-based robot navigation is a research theme that continues to be developed up to now by the researchers in the field of robotics. There are innumerable methods or algorithms are developed, and this paper described the reviews of the methods. The methods are distinguished whether the robot is equipped with the navigation map (map-based), the map is built incrementally as robot observes the environment (map-building), or the robot navigates using no map (mapless). In this paper will described navigation methods of map-based, map-building, and mapless category
Inverse Kinematic Solution of 5R Manipulator using ANN and ANFIS
Get PDFInverse kinematics of manipulator comprises the computation required to find the joint angles for a given Cartesian position and orientation of the end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network and adaptive neural fuzzy inference system techniques can be gainfully used to yield the desired results. This paper proposes structured artificial neural network (ANN) model and adaptive neural fuzzy inference system (ANFIS) to find the inverse kinematics solution of robot manipulator. The ANN model used is a multi-layered perceptron Neural Network (MLPNN). Wherein, gradient descent type of learning rules is applied. An attempt has been made to find the best ANN configuration for the problem. It is found that ANFIS gives better result and minimum error as compared to ANN
Backstepping Controller for Electrically Driven Flexible Joint Manipulator Under Uncertainties
Get PDFThe grown complexity of the robot manipulators dynamics taking into account the jointflexibility, parameter uncertainties and unknown bounded disturbances makes conventionalcontrol strategies difficult and complex to synthesize. This paper focuses on the investiga-tion into backstepping control of flexible joint manipulator driving by Brushless DC Motor(BDCM) in the presence of parameter uncertainties and unknown bounded disturbances fortracking trajectory. The goal of this paper is to compensate all uncertainties and distur-bances for flexible joint manipulator. To study the effectiveness of the controllers, backstep-ping controller has been developed for position control and an hysteresis controller has beentreated for current control. Simulation results of the response of the flexible joint manipu-lators associated with their controllers have been presented. The high performances of thebackstepping control are examined in terms of tracking accuracy and error reduction
Online Biped Walking Pattern Generation with Contact Consistency
No full textIn this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance
Two-Degree-of-Freedom PID Controller, Its Equivalent Forms and Special cases
Get PDFThe design of control systems is a multi-objective problem so, a two-degree-of-freedom (abbreviated as 2DOF) control system naturally has advantages over a one degree- of-freedom (abbreviated as 1DOF) control system. The main objective of 2DOF control is to control both set point tracking and disturbance rejections.Various 2DOF PID controllers and its equivalent transformations were proposed for industrial use by different researchers. Most of the above researches were published in Japanese language and have not been translated into English language yet. An objective here is to provide detail analysis regarding structure of 2DOF controller, its equivalent forms and its special cases. A system transfer function having transport delay and load disturbance is considered as a test bench to verify various 2DOF control strategies. MATLAB is used as software tool to verify the various 2DOF control strategies. The analysis will be helpful to the engineers and researchers to understand the topic in detail for further exploration
Making Humanoid Robots More Acceptable Based on the Study of Robot Characters in Animation
Get PDFIn this paper we take an approach in Humanoid Robots are not considered as robots who resembles human beings in a realistic way of appearance and act but as robots who act and react like human that make them more believable by people. Regarding this approach we will study robot characters in animation movies and discuss what makes some of them to be accepted just like a moving body and what makes some other robot characters to be believable as a living human. The goal of this paper is to create a rule set that describes friendly, socially acceptable, kind, cute... robots and in this study we will review example robots in popular animated movies. The extracted rules and features can be used for making real robots more acceptable
Manuscript shapes generated by novel bi-axis control algorithm based on a mathematical handwriting model
Get PDFHandwriting movement is one of the most complex activities of human motions. It’s a blend of kinesthetic, cognitive, perceptual and motor components. The study of this biological process shows that bell-shaped velocity profiles are generally observed in the handwriting motion. In this paper, an identification technique, based on Recursive Least Square algorithm (RLS), is proposed to identify the pen-tip movement in human handwriting process, by using input and output data which present EMG signals and velocities according to x and y coordinates. Using the estimated coordinates that have resulted from the velocity model; we propose a novel algorithm to generate handwritten graphic traces, which is inspired from the idea of tracing circles by Bresenham bi-axis control algorithm. The effectiveness of this approach should be observed on predicting cursive Arabic letters and Arabic word written on (x,y) plane, these shapes constituting a recorded experimental basis
Trajectory Planning and Walking Pattern Generation of Humanoid Robot Motion
Get PDFWalking trajectory generation for a humanoid robot is a challenging control issue. In this paper, a walking cycle has been recognized considering human motion, and nine simple steps were distinguished in a full step of walking which form motion trajectory, and generates a simplified ZMP motion formulation. This system was used in humanoid robot simulation motion and is achievable easily in walking steps of robot. A minimum DOFs humanoid robot has been considered and geometrical relationships between the robot links were presented by the Denavit-Hartenberg method. The inverse kinematics equations have been solved regarding to extracted ZMP trajectory formula, and constraints in different steps. As a result; angular velocity, acceleration and power of motors were obtained using the relationships and Jacobin. At each step, extracted data were applied on simulated robot in Matlab, and Visual Nastran software. Zero moment point trajectory was evaluated in simulation environment