A NEW CONTROL STRATEGY BASED ON THE CONCEPT OF NON INTEGER DERIVATION: APPLICATION IN ROBOT CONTROL

1990 ◽  
pp. 641-648 ◽  
Author(s):  
A. Oustaloup ◽  
P. Melchior ◽  
A. El Yagoubi
Keyword(s):  
Control Strategy ◽  
Robot Control

scholarly journals A lobster-inspired multi-robot control strategy for monitoring non-stationary concentration fields

2021 ◽  
Vol 2099 (1) ◽  
pp. 012027
Author(s):  
I V Bychkov ◽  
A A Tolstikhin ◽  
S A Ulyanov
Keyword(s):  
Control Strategy ◽  
Robot Control ◽  
Concentration Field ◽  
Biological Species ◽  
Multi Agent System ◽  
Nonholonomic Mobile Robots ◽  
Stationary Concentration ◽  
Multi Agent ◽  
Experimental Works ◽  
Localization Behavior

Abstract We propose a new lobster-inspired chemotaxis decentralized control strategy for monitoring a non-stationary concentration field using a team of nonholonomic mobile robots. The task of the team is to locate and trace the movement of the point (or points) with the highest field value (i.e. source), provided that the robots are not aware of the dynamics of the field and can only periodically sample the field at their locations. As an example of the concentration field we consider a population of biological species modeled by a self-organizing multi-agent system with agents acting as individuals of the population in accordance with some flocking rules. The proposed strategy combines the lobsters’ plume localization behavior and flocking mechanisms to efficiently solve the problem even with a small group of robots. Simulations and experimental works on physical unicycle robots are performed to validate the efectiveness of the approach for the cases of non-stationary fields.

Motion Analysis of Human Lifting Works with Heavy Objects

2005 ◽  
Vol 17 (6) ◽  
pp. 628-635 ◽  
Author(s):  
Nobutomo Matsunaga ◽  
◽  
Shigeyasu Kawaji
Keyword(s):  
Motion Control ◽  
Motion Analysis ◽  
Real World ◽  
Control Strategy ◽  
Robot Control ◽  
Autonomous Robots ◽  
Biped Robot ◽  
Weight Lifting ◽  
The Real ◽  
Lower Back

Advances in robot development involves autonomous work in the real world, where robots may lift or carry heavy objects. Motion control of autonomous robots is an important issue, in which configurations and motion differ depending on the robot and the object. Isaka et al. analyzed that lifting configuration is important in realizing efficient lifting minimizing the burden on the lower back, but their analysis was limited to weight lifting of a fixed object. Biped robot control requires analyzing different lifting in diverse situations. Thus, motion analysis is important in clarifying control strategy. We analyzed dynamics of human lifting of barbells in different situations, and found that lifting can be divided into four motions.

Robot control strategy for in-orbit assembly of a micro satellite

2004 ◽  
Vol 18 (2) ◽  
pp. 199-222 ◽  
Author(s):  
Fumio Ozaki ◽  
Kazuo Machida ◽  
Junji Oaki ◽  
Toshiaki Iwata
Keyword(s):  
Control Strategy ◽  
Robot Control

A New Control Strategy Based on the Concept of Non Integer Derivation: Application in Robot Control

1990 ◽  
Vol 23 (3) ◽  
pp. 641-648
Author(s):  
A. Oustaloup ◽  
P. Melchior ◽  
A. El Yagoubi
Keyword(s):  
Control Strategy ◽  
Robot Control

Equilibrium Point Control of a 2-DOF Manipulator

2005 ◽  
Vol 128 (1) ◽  
pp. 134-141 ◽  
Author(s):  
Damien J. Clapa ◽  
Elizabeth A. Croft ◽  
Antony J. Hodgson
Keyword(s):  
Equilibrium Point ◽  
Control Strategy ◽  
Robot Control ◽  
Primary Objective ◽  
Human Interaction ◽  
Assistive Robots ◽  
Equilibrium Angle ◽  
New Strategy ◽  
Mckibben Actuators ◽  
Tracking Behavior

Programmable mechanical compliance in actuation is desirable for human interaction tasks and important for producing biomimetic motion, particularly for robots designed for use in domestic settings. In this paper, the equilibrium point (EP) hypothesis is proposed and implemented as a new strategy for controlling programmable compliance. The primary objective of this work is to design and demonstrate a simple robot control strategy that can potentially be used by assistive robots to learn and execute compliant interaction tasks from human demonstrations. A 2-DOF planar manipulator activated by McKibben actuators was constructed for the purpose of demonstrating the application of the EP hypothesis on an inexpensive robotic platform, such as might be used in domestic applications. The equilibrium angle and stiffness of each of the joints on the manipulator can be independently programmed. The results presented herein show stable and satisfactory tracking behavior during free motion, interaction, and transition tasks for a robot control system inspired by the EP hypothesis and implemented with a linear proportional-integral (PI) control strategy.

scholarly journals Motion coordination control of planar 5R parallel quadruped robot based on SCPL-CPG

2022 ◽  
Vol 14 (1) ◽  
pp. 168781402110709
Author(s):  
Mingfang Chen ◽  
Kangkang Hu ◽  
Yongxia Zhang ◽  
Fengping Qi
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Robot Control ◽  
Quadruped Robot ◽  
Smooth Transition ◽  
Analysis Method ◽  
Motion Coordination ◽  
Connection Weight ◽  
Unit Model ◽  
Hopf Oscillator

The parallel leg of the quadruped robot has good structural stiffness, accurate movement, and strong bearing capacity, but it is complicated to control. To solve this problem, a series connection of parallel legs (SCPL) was proposed, as well as a control strategy combined with the central pattern generator (CPG). With the planar 5R parallel leg as the research object, the SCPL analysis method was used to analyze the leg structure. The topology of CPG network was built with the Hopf oscillator as the unit model, and the CPG was the core to model the robot control system. By continuously adjusting the parameters in the CPG control system and changing the connection weight, and the smooth transition between gaits was realized. The simulation results show that the SCPL analysis method can be effectively used in the analysis of parallel legs, and the control system can realize the smooth transition between gaits, which verifies the feasibility and effectiveness of the proposed control strategy.

scholarly journals Minimizing biosignal recording sites for hybrid noninvasive brain/neural robot control

2020 ◽  
Author(s):  
Alessia Cavallo ◽  
Vincent Roth ◽  
David Haslacher ◽  
Marius Nann ◽  
Surjo R. Soekadar
Keyword(s):  
Control Strategy ◽  
Classification Accuracy ◽  
Robot Control ◽  
Neural Control ◽  
Control Task ◽  
Task Classification ◽  
New Strategy ◽  
Conventional Electrode ◽  
Cranial Muscle

AbstractNoninvasive brain/neural controlled robots are promising tools to improve autonomy and quality of life in severe paralysis, but require biosignal recordings, such as electroencephalography (EEG) and electrooculography (EOG), from various sites distributed over the user’s head. This limits the applicability and practicality of noninvasive brain/neural robot control on an everyday basis. It would thus be very desirable to minimize the number of necessary recording sites paving the way for miniaturized, headset-like EEG/EOG systems that users with hemiplegia can mount by themselves. Here, we introduce a novel EEG/EOG brain/neural robot control strategy using only scalp electrodes placed near cortical sensorimotor areas. The strategy was tested across 16 healthy volunteers engaging in an EEG/EOG brain/neural control task. Classification accuracies were compared using scalp electrodes only vs. the conventional electrode placements across the scalp and face. To evaluate whether cranial muscle artifacts impede classification accuracy, participants were asked to chew during the task. We found that brain/neural classification accuracy was comparable and that chewing did not impact classification accuracies when using scalp electrodes only. Our results suggest that the proposed new strategy allows for reliable EEG/EOG-based brain/neural robot control, a critical prerequisite to broaden the use of noninvasive brain/neural assistive and rehabilitative technologies.

Using Industrial Robots for Hardware-in-the-Loop Simulation of Spacecraft Rendezvous and Docking

2012 ◽  
Author(s):  
Ou Ma ◽  
Angel Flores-Abad ◽  
Toralf Boge
Keyword(s):  
Control Strategy ◽  
Robot Control ◽  
Real Space ◽  
Space Mission ◽  
Contact Dynamics ◽  
Industrial Robots ◽  
Dynamics Simulation ◽  
Hardware In The Loop ◽  
Reliable Operation ◽  
Rendezvous And Docking

One of the most challenging and risky operations for spacecraft is to perform proximity Rendezvous and Docking (R&D) autonomously in space. To ensure a safe and reliable operation, such a mission must be carefully designed and thoroughly verified before a real space mission can be launched. This paper describes the control strategy for achieving high fidelity contact dynamics simulation of a new, robotics-based, hardware-in-the-loop (HIL) R&D simulation facility which uses two industrial robots to simulate the 6-DOF dynamic maneuvering of the two docking satellites. The facility is capable of physically simulating the final approaching within a 25-meter range and the entire docking or capturing process in a satellite on-orbit servicing mission. The paper discusses the difficulties of using industrial robots for HIL contact dynamics simulation and the proposed robot control strategy for dealing with these difficulties.

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