Analysis of Knee-Ankle Orthosis Modelling: An Inverse Dynamics Approach Using Adaptive Coupled Oscillator

2014 ◽  
pp. 122-133 ◽  
Author(s):  
Michael Oluwatosin Ajayi ◽  
Karim Djouani ◽  
Yskandar Hamam
Keyword(s):  
Inverse Dynamics ◽  
Coupled Oscillator

Synchronization Phenomena Observed in Coupled Oscillator with Interrupted Characteristics

2009 ◽  
Vol 129 (7) ◽  
pp. 1444-1450
Author(s):  
Shingo Tomonaga ◽  
Hiroyuki Kitajima ◽  
Takuji Kousaka
Keyword(s):  
Coupled Oscillator

Inverse dynamics of adaptive space cranes with tip point adjustment

1990 ◽  
Author(s):  
S. DAS ◽  
S. UTKU ◽  
B. WADA
Keyword(s):  
Inverse Dynamics

scholarly journals Reactive Balance Control for Legged Robots under Visco-Elastic Contacts

2020 ◽  
Vol 11 (1) ◽  
pp. 353
Author(s):  
Thomas Flayols ◽  
Andrea Del Prete ◽  
Majid Khadiv ◽  
Nicolas Mansard ◽  
Ludovic Righetti
Keyword(s):  
Inverse Dynamics ◽  
State Of The Art ◽  
Balance Control ◽  
Contact Stiffness ◽  
Poor Performance ◽  
Admittance Control ◽  
Inverse Dynamics Control ◽  
Rigid Contact ◽  
Reactive Balance ◽  
Shed Light

Contacts between robots and environment are often assumed to be rigid for control purposes. This assumption can lead to poor performance when contacts are soft and/or underdamped. However, the problem of balancing on soft contacts has not received much attention in the literature. This paper presents two novel approaches to control a legged robot balancing on visco-elastic contacts, and compares them to other two state-of-the-art methods. Our simulation results show that performance heavily depends on the contact stiffness and the noises/uncertainties introduced in the simulation. Briefly, the two novel controllers performed best for soft/medium contacts, whereas “inverse-dynamics control under rigid-contact assumptions” was the best one for stiff contacts. Admittance control was instead the most robust, but suffered in terms of performance. These results shed light on this challenging problem, while pointing out interesting directions for future investigation.

Effects of Dynamic Model Errors in Task-Priority Operational Space Control

Robotica ◽  
2021 ◽  
pp. 1-12
Author(s):  
Paolo Di Lillo ◽  
Gianluca Antonelli ◽  
Ciro Natale
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Null Space ◽  
Control Algorithms ◽  
Model Errors ◽  
Operational Space ◽  
Dynamic Level ◽  
Concurrent Tasks ◽  
Modeling Errors

SUMMARY Control algorithms of many Degrees-of-Freedom (DOFs) systems based on Inverse Kinematics (IK) or Inverse Dynamics (ID) approaches are two well-known topics of research in robotics. The large number of DOFs allows the design of many concurrent tasks arranged in priorities, that can be solved either at kinematic or dynamic level. This paper investigates the effects of modeling errors in operational space control algorithms with respect to uncertainties affecting knowledge of the dynamic parameters. The effects on the null-space projections and the sources of steady-state errors are investigated. Numerical simulations with on-purpose injected errors are used to validate the thoughts.

scholarly journals Time delay effect in a three coupled oscillator system of the physarum plasmodium

2000 ◽  
Vol 40 (supplement) ◽  
pp. S100
Author(s):  
A. Takamatsu ◽  
T. Fujii ◽  
I. Endo
Keyword(s):  
Time Delay ◽  
Delay Effect ◽  
Coupled Oscillator ◽  
Oscillator System ◽  
Time Delay Effect

Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

2021 ◽  
pp. 014233122098363
Author(s):  
Heli Gao ◽  
Mou Chen
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Inverse Dynamics ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Extended State

This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC.

scholarly journals Normal form approach in the motion planning of space robots: a case study

2021 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Katarzyna Zadarnowska
Keyword(s):  
Normal Form ◽  
Motion Planning ◽  
Normal Forms ◽  
Inverse Dynamics ◽  
Planning Problem ◽  
Inverse Dynamics Problem ◽  
Velocity Level ◽  
Form Approach ◽  
Space Approach

AbstractWe examine applicability of normal forms of non-holonomic robotic systems to the problem of motion planning. A case study is analyzed of a planar, free-floating space robot consisting of a mobile base equipped with an on-board manipulator. It is assumed that during the robot’s motion its conserved angular momentum is zero. The motion planning problem is first solved at velocity level, and then torques at the joints are found as a solution of an inverse dynamics problem. A novelty of this paper lies in using the chained normal form of the robot’s dynamics and corresponding feedback transformations for motion planning at the velocity level. Two basic cases are studied, depending on the position of mounting point of the on-board manipulator. Comprehensive computational results are presented, and compared with the results provided by the Endogenous Configuration Space Approach. Advantages and limitations of applying normal forms for robot motion planning are discussed.

A 20 μW, 50 mV, Fully-Integrated Cross-Coupled Oscillator for On-Body IoT Applications

2021 ◽  
Author(s):  
Marcio Bender Machado ◽  
Rafael Luciano Radin ◽  
Marcio Cherem Scheneider ◽  
Carlos Galup-Montoro
Keyword(s):  
Coupled Oscillator ◽  
Fully Integrated ◽  
Iot Applications
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