...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...

... of on-board cameras as the main sensing device for robotic systems guidance [ 5 – 8 ], and the integration of visual data with other sensors such as inertial sensors and global navigation satellite system devices [ 9 , 10 ]. Since the information obtained using computer vision is relative to the immediate...

...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...

... OF D YNAMIC S YSTEMS , M EASUREMENT, AND C ONTROL . Manuscript received September 25, 2015; final manuscript received May 22, 2018; published online July 2, 2018. Editor: Joseph Beaman. 25 09 2015 22 05 2018 Real time control Robotics Figure 5 shows an overview...

...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...

.... , 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 , J. H. , Yi , B. J. , Park , J. , Yuta , S...

... to find families of extremal trajectories that satisfy necessary conditions on optimality. We follow the method used in Ref. [ 9 ], which solved for optimal trajectories for differential drive robots with the same equations of motion as the current system, but with different constraints on the inputs...

... received December 21, 2017; published online March 28, 2018. Assoc. Editor: Yunjun Xu. 03 02 2017 21 12 2017 Mechatronics Motion controls Robotics Uncertain systems Robust control Synchronization systems have attracted attention since the last decade, motivated...

...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...

...: Azim Eskandarian. 10 02 2016 22 01 2018 Autonomous systems Motion controls Robotics Given a set of targets on a plane, an unmanned vehicle, and its minimum turning radius ( ρ ), the Dubins traveling salesman problem (DTSP) aims to find a path for the vehicle...

...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...

... was ensured via Lyapunov-type stability analysis. Experimental results performed on a robot manipulator were presented to illustrate the performance of the proposed observer. The Scientific and Technological Research Council of Turkey (Grant No. 113E147). References [1] Su , Y. X...

... 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...

...-speed large section wind tunnel, available at University of Florence supported by simple but effective computational fluid dynamic (CFD) simulations. 18 04 2017 29 08 2017 Autonomous systems Instrumentation Mechatronics Robotics Sensors and actuators Components...