modeling by a mobile robot

... 353–358, Aachen, Germany, April 2004 [30] C Montagne, S Lelandais, A Chaari, and M B Ahmed, “Invariant couleur bas´ sur la transform´ e du boulanger— e e ` application a la localisation globale ... corresponding database. We used only these two tasks for our automatic robot localisation problem. The two other tasks are navigation and analysis. Navigation is mainly related to the manner of database’s ... localization Mapless localization Absolute localization Incremental localization Landmark tracking Optical flow Appearance-based matching Using Object recognition Using Geometrical representation

Ngày tải lên: 22/06/2014, 19:20

... International Conference on Robotics and Automation, 11301135, 1991 6 G Campion, G Bastin, B D'Andrea-Novel Structural Properties and Classication of Kinematic and Dynamic Models of Wheeled Mobile ... Mobile Robots, IEEE Transactions... on Robotics and Automation Vol 12, 1:47-62, 1996 7 L Caracciolo, A de Luca, S Iannitti Trajectory Tracking of a Four-Wheel Dierentially Driven Mobile Robot, ... Springer-Verlag, 2002 2 M S Branicky Analyzing and Synthesizing Hybrid Control. .. as an unreachable state  the system is safe This analysis may be done oine, when trajectories are preplanned,

Ngày tải lên: 27/06/2014, 18:20

... caster pro- totype robot was demonstrated (Wada and Mori 1996). A dynamically-controlled, holono mic mobile robot is particularly desirable in a mobile manipulation system for many reasons. A ... chains of spherical(West and Asada 1992) or cylin- drical wheels (Hirose and Amano 1993), orthogonal wheels (Killough and Pin 1992), and ball wheels (West and Asada 1994). All of these mechanisms, ... bile manipulator platforms. Each platform was ∗ and Nomadic Technologies Inc., Mountain View, CA equipped with a PUMA 560 arm, and a base which consists of three “lateral” orthogo nal universal-

Ngày tải lên: 26/10/2014, 14:32

... (castors) are installed at the bottom of front and rear for balance of mobile platform iv A torch slider is located at the center of mobile robot and is composed of rack and pinion gear v A seam tracking ... manipulator that typically consists of a mobile platform and a robotic manipulator mounted upon the platform (Kang, J G et al., 2000, Yamamoto and Yun, 1999) Thus, coordination of manipulator and locomotion ... Wheeled mobile robots (WMR) constitute a class of mechanical systems characterized by kinematic constraints that are not integrable and can not be eliminated from the model equations (dAndrea-Novel

Ngày tải lên: 26/10/2014, 14:38

... possible by the combination of the longitudinal and lateral motions and we have also derived the lateral-statics boundary, lateral-statics constant and turning constant which are important characteristics ... robot made by Ishikawa, Kitayoshi and Sugie [37], and Ballbot, a unicycle robot made by Lauwers, Kantor and Hollis [47] Figure 1. 7: Yamabico ICHIRO, Its Rugby-Ball-Shaped... the case ... Steering mechanism is the means by which a single- wheeled mobile robot maintains its balance and steer itself to follow a designated path on Cartesian x-y plane Many... Wheel, an advanced

Ngày tải lên: 09/09/2015, 11:28

... and main.h. 5.2.2 Declaration of Variables & Constants After all file classes are included, all variables and constants used in the software are declared and initialised. In total, there are ... chassis and pendulum can be read. For the chassis IMU, the following data are read and recorded: ˙ • EKF-calibrated longitudinal angular position (β) and angular speed (β), • EKF-calibrated lateral ... C planetary gearheads have the same maximum... the Left and Right Axles Attached 3 .2. 4 .2 Placement of Motor Amplifiers and Batteries Due to the limited space available on the main platform,

Ngày tải lên: 09/09/2015, 11:29

... more accurate simulation study and theoretical analyses can be performed. • Analyses of Posture Balancing and Manoeuvring: There is an apparent tendency to approach the problems of posture balancing ... by manoeuvring to follow a particular path During the course of manoeuvre, it is important to always maintain the longitudinal stability and lateral stability, so that ALP Cycle will not fall ... The approaches used by other researchers for modelling the dynamics of lateral-pendulum unicycle robot assume that the robot? ??s longitudinal dynamics and lateral dynamics are completely separate.

Ngày tải lên: 09/09/2015, 11:29

... LQR Linear Quadratic Regulator PFL Partial Feedback Linearization NCPFL Non-Collocated Partial Feedback Linearization CPFL Collocated Partial Feedback Linearization LSE Least Square Estimation ... control that has the capability to adapt to changes and interact with our environment. Thus, the innate ability of animals and humans to maneuver and acclimatize is harnessed and imitated, when ... STANDING POSTURE MODELING AND CONTROL FOR A HUMANOID ROBOT SYEDA MARIAM AHMED National University of Singapore 2013 STANDING POSTURE MODELING AND CONTROL FOR A HUMANOID ROBOT SYEDA MARIAM

Ngày tải lên: 01/10/2015, 17:27

... understanding and creating effective social interaction with robots also known as Human Robot Interaction (HRI). Examples of social robotic task include personal assistant, companion robot and handicap aid ... people Navigate to Understand Behavioral layer target area speech Motion and Audio and Vision Speech Animation localization... design for a social robot that can navigate a home environment ... calculate the angle of each joint. Robot kinematics can be divided in serial manipulator kinematics, parallel manipulator kinematics, mobile robot kinematics and humanoid kinematics. The forward

Ngày tải lên: 04/10/2015, 10:26

... M M A Mohammed Faisal, Khalid Al-Mutib and E Mattar, “Behavior based mobile for mobile robots navigation and obstacle avoidance,” International Journal of computers and communications, vol [11] ... [6] A Adriansyah and S H M Amini, “Genetic fuzzy system in behavior based mobile robot, ” Politeknik Elektronika Negeri Surabaya ITS, 2004 [7] A S A Yahmedi and M A Fatmi, “Fuzzy logic based navigation ... Aij, the input linguistic variable xi and output linguistic variable yi are then represented by: x1  {A1 1 , A1 2 ,, A1 a } x2  {A2 1 , A2 2 ,, A2 a } xm  {Am1 , Am2 ,, Ama } y1  {B11 , B12 ,,

Ngày tải lên: 11/12/2017, 20:57

... examples, are indicated that accuracy results can Z Wang et al / Advances in Engineering Software 102 (2016) 105–122 111 Fig Schematically generating quadrature sub-domains for a regular variablenode ... domain, requiring a large amount of computational effort, as a consequence the advantage of the A- XFEM for this particular case may not be obvious; (3) Modeling multiple matrix cracking and delamination ... crack growth simulations of bi-material interfacial cracks using XFEM under elastic loading and thermoelastic loading The material interface is modeled by a signed distance function whereas a

Ngày tải lên: 15/12/2017, 15:07

... that feature phone sales decreased at an average rate of 82.5 million feature phones/year between 2010 and 2012 The fact that the average rate of change is negative tells us that annual sales are ... means that smartphone sales increased at an average rate of 180 million players/year between 2010 and 2012 The fact that Δ𝑞∕Δ𝑡 = 307 means that smartphone sales increased at an average rate of 307 ... the approximation and the actual formula is zero 𝐶 −2 = 𝐶=2 𝐶 = 10 Another way we can solve for a temperature 𝐶 is to equate our approximation and the actual value Approximation = Actual value

Ngày tải lên: 26/03/2019, 11:42

... years, there is a growing recognition that mobile robots have the capability to operate in a wide area and further the ability to manipulate in an automatic and smart way without any actions taken ... the assumption that the sideslip angle and friction parameter always are measure exactly in real time It goes without saying that accelerates and velocities are always directly measured via affordable ... tracking errors to zero is assured The robust terms and the gains of the Gaussian wavelet network are bounded via standard Lyapunov criteria and LaSalle extension as well as Barbalat’s lemma

Ngày tải lên: 10/01/2020, 07:10

... years, there is a growing recognition that mobile robots have the capability to operate in a wide area and further the ability to manipulate in an automatic and smart way without any actions taken ... the assumption that the sideslip angle and friction parameter always are measure exactly in real time It goes without saying that accelerates and velocities are always directly measured via affordable ... tracking errors to zero is assured The robust terms and the gains of the Gaussian wavelet network are bounded via standard Lyapunov criteria and LaSalle extension as well as Barbalat’s lemma

Ngày tải lên: 16/01/2020, 07:23

... performance and handling actuators’ constraints Even though this approach is acceptable in theory, it has still lacked applicability to several practical tasks [27] Meanwhile, the two-step approach ... followed by retrofitting a saturation compensator Nonetheless, the disadvantage of the latter is that they must also rapidly remove the output of the saturation compensator as soon as actuator saturation ... control law without taking account of actuators’ saturation Subsequently, a saturation compensator such as an anti- DESIGNING A ROBUST ADAPTIVE TRACKING CONTROLLER 189 Figure Slipside angle [10]

Ngày tải lên: 10/07/2020, 23:48

... [157] S Arastehfar, C.-M Chew, A Jalalian, G Gunawan, and K S Yeo, "A relationship between sweep angle of oscillatory pectoral fins and thrust generation," Journal of Mechanisms and Robotics, ... added mass and damping For two last fin types, the Lagrange approach was applied to build dynamic equations of motion Moreover, experimental works are carried out to validate and evaluate the ... 1729881417749950, 2018 [153] M Ikeda, Y Yamamoto, K Yoshinaka, K Watanabe, and I Nagai, "Propulsion control for a Manta robot with neural oscillators," in Proceedings of SICE Annual Conference, 2012, pp

Ngày tải lên: 08/05/2021, 15:42

... [157] S Arastehfar, C.-M Chew, A Jalalian, G Gunawan, and K S Yeo, "A relationship between sweep angle of oscillatory pectoral fins and thrust generation," Journal of Mechanisms and Robotics, ... added mass and damping For two last fin types, the Lagrange approach was applied to build dynamic equations of motion Moreover, experimental works are carried out to validate and evaluate the ... 1729881417749950, 2018 [153] M Ikeda, Y Yamamoto, K Yoshinaka, K Watanabe, and I Nagai, "Propulsion control for a Manta robot with neural oscillators," in Proceedings of SICE Annual Conference, 2012, pp

Ngày tải lên: 16/06/2021, 22:05

... considering a planar snake robot and if lateral constraints are assumed, which is an often-used assumption for a planar snake robot, the existence of a passive joint makes no problem in many cases Because ... gait and hyperredundancy of a rigid-link snake robot IEEE Trans Robot 24(2):348–360 13 512 Ariizumi R, Takahashi R, Tanaka M, Asai T (2019) Head trajectory tracking control of a snake robot and ... SICE Annual Conference, pp 2319–2325 Tanaka M, Tanaka K (2015) Control of a snake robot for ascending and descending steps IEEE Trans Robot 31(2):511–520 Takemori T, Tanaka M, Matsuno F (2018) Gait

Ngày tải lên: 11/08/2021, 21:20

... kinematics one can design a motion planning, which means that the robot inputs can be calculated for a desired robot state sequence • Motion constraints: appear when a system has less input variables ... object modeling, and properties of that object because after all, to control an object, we need to define very clearly the controlled variables, manipulated variables and process variables That is ... between the actual trajectory and the reference trajectory, combined with the compensation controller and related mathematical formulas that we will write in detail below, and at the same time design

Ngày tải lên: 24/04/2022, 22:06

... the experimental data without having recourse to any empirical approach. In the case of a partially known environment, a hybrid method is used in order to exploit the advantages of global and local navigation ... processing inaccurate and uncertain data with application to autonomous mobile robot and sensorial fusion. C. Barret was born in Marseille, France, in 1946. He obtained the Aggregation degree in Applied ... the robot containing most of its fixed features can be drawn, but numerous undrawn or displaced lo- cal obstacles can also been encountered by the robot. So a natural way to obtain an efficient and...

Ngày tải lên: 23/10/2013, 15:15