...Anthony Goo; Curt A. Laubscher; Jerzy T. Sawicki Hybrid zero dynamics (HZD) control creates dynamically stable gaits by driving a hybrid robot model toward an optimally generated state-dependent reference signal. This paper presents the first application of HZD to an underactuated lower-limb...

...Curt A. Laubscher; Jerzy T. Sawicki This paper presents a novel impedance controller modified with a switching strategy for the purpose of improving safety in human–robot interactions. Under normal operating conditions, an impedance controller is enabled when adequate tracking performance...

...Gregory A. Formosa; J. Micah Prendergast; J. Sean Humbert; Mark E. Rentschler A scaled robotic endoscopy platform (REP) was previously developed to efficiently test new control schemes in a simulated colon environment. This article presents the derivation and tuning of a nonlinear model of the REP...

... as a function of the number of iterations from a total of 2,405,916 simulations. Line detection in images, and specifically, corridor line detection, is a common task in robotics [ 18 , 30 ]. Given the four corridor lines, the algorithm presented in this work converges to the pose from which the image...

...Kamil Cetin; Enver Tatlicioglu; Erkan Zergeroglu In this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth...

...-Connection (GP) algorithm, which attempts to connect an added vertex directly to its grandparent vertex instead of parent. The GT and GP algorithms are both proven to be asymptotically optimal. Finally, the three algorithms are simulated and compared for a Euclidean metric robot, a Dubins' vehicle...

...Mostafa Bagheri; Miroslav Krstić; Peiman Naseradinmousavi In this paper, a novel analytical coupled trajectory optimization of a seven degrees-of-freedom (7DOF) Baxter manipulator utilizing extremum seeking (ES) approach is presented. The robotic manipulators are used in network-based industrial...

...Vahid Azimi; Seyed Abolfazl Fakoorian; Thang Tien Nguyen; Dan Simon This paper presents, compares, and tests two robust model reference adaptive impedance controllers for a three degrees-of-freedom (3DOF) powered prosthesis/test robot. We first present a model for a combined system that includes...

... setup. The setup consists of two identical Servo SRV-02 Quick Connect Modules (Quanser, Inc., Markham, ON, Canada) as one-degreee-of-freedom (DOF), revolute-joint master, and slave robots. Each of the master and slave modules, which is comprised of a direct current motor, a gear, and a potentiometer...

...Shadi Tasdighi Kalat; Siamak G. Faal; Cagdas D. Onal We present a novel approach to achieve decentralized distribution of forces in a multirobot system. In this approach, each robot in the group relies on the behavior of a cooperative virtual teammate that is defined independent of the population...

...] Tsai , C. C. , Huang , H. C. , and Chan , C. K. , 2011 , “ Parallel Elite Genetic Algorithm and Its Application to Global Path Planning for Autonomous Robot Navigation ,” IEEE Trans. Ind. Electron , 58 ( 10 ), pp. 4813 – 4823 . 10.1109/TIE.2011.2109332 [2] Jung , E. J. , Lee...

...: Lagrangian Approach ,” J. Guid. Control Dyn. , 32 ( 2 ), pp. 512 – 526 . 10.2514/1.37261 [4] Chung , S.-J. , and Slotine , J.-J. E. , 2009 , “ Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems ,” Trans. Rob. , 25 ( 3 ), pp. 686 – 700 . 10.1109/TRO...

.... [ 4 ] for detailed derivation of optimal paths with fixed terminal headings. The steered agent model can also be used to represent a two-wheeled differential-drive robot. A limit on the angular rate of each wheel leads to a set of linear inequalities on the speed and turning rate of the agent [ 5...

... , “ Efficient Target Visiting Path Planning for Multiple Vehicles With Bounded Curvature ,” IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ), Tokyo, Japan, Nov. 3–7, pp. 3830 – 3836 . 10.1109/IROS.2013.6696904 [7] Macharet , D. G. , Neto , A. A. , da Camara Neto...

...Amin Nikoobin; Mojtaba Moradi Balancing plays a major role in performance improvement of robotic manipulators. From an optimization point of view, some balancing parameters can be modified to decrease motion cost. Recently introduced, this concept is called optimal balancing: an umbrella term...

...Stephanie Bonadies; Neal Smith; Nathan Niewoehner; Andrew S. Lee; Alan M. Lefcourt; S. Andrew Gadsden Farming and agriculture is an area that may benefit from improved use of automation in order to increase working hours and improve food quality and safety. In this paper, a commercial robot...

...Yan Gu; Bin Yao; C. S. George Lee This paper focuses on the development of a model-based feedback controller to realize high versatility of fully actuated planar bipedal robotic walking. To conveniently define both symmetric and asymmetric walking patterns, we propose to use the left and the right...

...Hayder Mahdi Abdulridha; Zainab Abdullah Hassoun In this study, a control system was designed to control the robot's movement (The Mitsubishi RM-501 robot manipulator) based on the quantum neural network (QNN). A proposed method was used to solve the inverse kinematics in order to determine...

..., 2017. Assoc. Editor: Azim Eskandarian. 03 06 2016 10 10 2017 Control theory Robotics Most commercially available mechatronic systems including industrial robot manipulators are not equipped with a sensor for measuring velocities of the system. In the lack of velocity...

... gains. The mass-spring-damper system and two-link manipulator robot system are both used as examples system to demonstrate the proposed control scheme, respectively. The comparisons between MFSMTC with the fixed control gain and MFASMTC with the adjustable control gain based on a DOB are performed...