Gait planning and control of quadruped crawling robot on a slope

2019 ◽  
Vol 47 (1) ◽  
pp. 12-22
Author(s):  
Peng Wang ◽  
Chunxiao Song ◽  
Xiaoqiang Li ◽  
Peng Luo
Keyword(s):  
Position Control ◽  
Impedance Control ◽  
Switching Control ◽  
Gait Planning ◽  
Content Type ◽  
Planning And Control ◽  
Smooth Switching ◽  
The Stability ◽  
And Control ◽  
Soft Control

Purpose The gait planning and control of quadruped crawling robot affect the stability of the robot walking on a slope. The control includes the position control in the swing phase, the force control in the support phase and the switching control in the force/position switching. To improve the passing ability of quadruped crawling robot on a slope, this paper aims to propose a soft control strategy. Design/methodology/approach The strategy adopts the statically stable crawling gait as the main gait. As the robot moves forward, the position/force section switching control is adopted. When the foot does not touch the ground, the joint position control based on the variable speed PID is performed. When the foot touches the ground, the position-based impedance control is performed, and a fuzzy multi-model switching control based on friction compensation is proposed to achieve smooth switching of force and position. Findings The proposed method offers a solution for stable passage in slope environment. The quadruped crawling robot can realize smooth switching of force/position, precise positioning in the swing process and soft control of force in the supporting phase. This fact is verified by simulation and test. Originality/value The method presented in this paper takes advantage of minimal tracking errors and minimal jitters. Simulations and tests were performed to evaluate the performance.

scholarly journals Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4911
Author(s):  
Qian Hao ◽  
Zhaoba Wang ◽  
Junzheng Wang ◽  
Guangrong Chen
Keyword(s):  
Impedance Control ◽  
Stability Margin ◽  
Planning Method ◽  
Legged Robots ◽  
Gait Planning ◽  
Quadruped Locomotion ◽  
Quadruped Robots ◽  
Adjustment Strategy ◽  
Compliant Behavior ◽  
The Stability

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

Building quality culture in higher education

2017 ◽  
Vol 9 (3/4) ◽  
pp. 331-346 ◽  
Author(s):  
Liselott Lycke ◽  
Ingrid Tano
Keyword(s):  
Higher Education ◽  
Quality Assurance ◽  
Education Institution ◽  
Higher Education Institution ◽  
Content Type ◽  
Quality Culture ◽  
Planning And Control ◽  
Control Education ◽  
Functional Teams ◽  
And Control

Purpose The purpose of this paper is to describe an approach to build a quality culture within a higher education institution. Design/methodology/approach This paper is based on Action research and a Case study. Findings The authors show the result of the mapped processes of a higher education institution, Management planning and control, Education, Research and Support, and describe how the mapping was performed, working in cross-functional teams. Further on, they discuss the result of the pilot and the plan for implementation. Originality/value A process-oriented approach in higher education institutions, with its complexity, creates opportunities for successful quality assurance and control when having an integrated quality assurance system.

Gait Planning and Control of Hexapod Robot Based on Velocity Vector

2021 ◽  
Author(s):  
Junfeng Xue ◽  
Jiehao Li ◽  
Zhihua Chen ◽  
Shoukun Wang ◽  
Junzheng Wang ◽  
...  
Keyword(s):  
Velocity Vector ◽  
Hexapod Robot ◽  
Gait Planning ◽  
Planning And Control ◽  
And Control

Prospect of lean practices towards construction supply chain management trends

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Phuoc Luong Le ◽  
Nguyen Thi Duc Nguyen
Keyword(s):  
Supply Chain ◽  
Supply Chain Management ◽  
Problem Solving ◽  
Chain Management ◽  
Content Type ◽  
Architectural Engineering ◽  
Planning And Control ◽  
Last Planner System ◽  
Last Planner ◽  
And Control

Purpose To deal with the present situation and recover after the COVID-19 pandemic, construction firms are required to recognise the trends in construction supply chain management (CSCM) for the upcoming years and determine the appropriate practices towards the trends for the improvement of construction activities in terms of strategy, tactic and operations. This paper aims to recognise key trends in CSCM and uses these trends as strategic criteria for the evaluation and prioritisation of lean construction (LC) tools at different project phases including design and architectural engineering, planning and control, on-site construction and safety management. Design/methodology/approach The integrated analytic hierarchy process–Delphi method is used to collect and analyse the data from construction experts to evaluate the importance levels of the CSCM trends and recommend the appropriate tools for LC practices to improve project performances. Findings Seven key CSCM trends are identified: lean supply chain management (SCM), supply chain (SC) integration, SC standardisation, SC problem-solving, SC information-sharing, SC flexibility and SC sustainability. Based on these trends, a set of prioritised lean tools are suggested for LC practices, in which “virtual design construction” (VDC) and “last planner system” are considered as the central tools. These two LC practices can be integrated with other effective tools to support the strategic, tactical and operational targets in construction supply chain (CSC) projects. Research limitations/implications This study gives the managerial implications by developing an application framework of LC practices for CSC projects. The framework promotes “VDC” as a strategic tool for the phase of design and architectural engineering and considers “last planner system” as the central LC practice for the phase of project planning and control. The framework also focuses on the improvement of efficiency in construction operations by taking into account the aspects of on-site collaboration, problem-solving, improvement and safety. Originality/value Up to date, there is still a lack of researches in classifying and prioritising the significant LC tools for each project phase to deal with CSC issues in both breadth and depth. Thus, this study is performed to provide construction managers with the awareness of CSCM trends on which they can focus to have strategic criteria for selecting LC practices to improve CSC performances.

Smooth transition adaptive hybrid impedance control for connector assembly

2018 ◽  
Vol 45 (2) ◽  
pp. 287-299 ◽  
Author(s):  
Jun Wu ◽  
Fenglei Ni ◽  
Yuanfei Zhang ◽  
Shaowei Fan ◽  
Qi Zhang ◽  
...  
Keyword(s):  
Position Control ◽  
Impedance Control ◽  
Estimation Error ◽  
Adaptive Controller ◽  
Smooth Transition ◽  
Reference Trajectory ◽  
Content Type ◽  
Dynamic Uncertainty ◽  
Force Tracking ◽  
Potential Applications

Purpose This paper aims to present a smooth transition adaptive hybrid impedance control for compliant connector assembly. Design/methodology/approach The dynamics of the manipulator is firstly presented with linear property. The controller used in connector assembly is inspired by human operation habits in similar tasks. The hybrid impedance control is adopted to apply force in the assembly direction and provide compliance in rest directions. The reference trajectory is implemented with an adaptive controller. Event-based switching strategy is conducted for a smooth transition from unconstrained to constrained space. Findings The method can ensure both ideal compliance behaviour with dynamic uncertainty and a smooth transition from unconstrained to constrained space. Also, the method can ensure compliant connector assembly with a good tolerance to the target estimation error. Practical implications The method can be applied in the connector assembly by “pushing” operation. The controller devotes efforts on force tracking and smooth transition, having potential applications in contact tasks in delicate environment. Originality/value As far as the authors know, the paper is original in providing a uniform controller for improving force and position control performance in both unconstrained and constrained space with dynamic uncertainty. The proposed controller can ensure a smooth transition by only adjusting parameters.

scholarly journals A novel steady-state maintenance simulation framework for multi- information disseminations in crowd network

2020 ◽  
Vol 4 (3) ◽  
pp. 273-282
Author(s):  
Zhong Wang ◽  
Hongbo Sun ◽  
Baode Fan
Keyword(s):  
Steady State ◽  
Design Methodology ◽  
Information Dissemination ◽  
Simulation Platform ◽  
Simulation Framework ◽  
Source Information ◽  
Content Type ◽  
General Rules ◽  
The Stability ◽  
And Control

Purpose The era of crowd network is coming and the research of its steady-state is of great importance. This paper aims to establish a crowd network simulation platform and maintaining the relative stability of multi-source dissemination systems. Design/methodology/approach With this simulation platform, this paper studies the characteristics of “emergence,” monitors the state of the system and according to the fixed point judges the system of steady-state conditions, then uses three control conditions and control methods to control the system status to acquire general rules for maintain the stability of multi-source information dissemination systems. Findings This paper establishes a novel steady-state maintenance simulation framework. It will be useful for achieving controllability to the evolution of information dissemination and simulating the effectiveness of control conditions for multi-source information dissemination systems. Originality/value This paper will help researchers to solve problems of public opinion control in multi-source information dissemination in crowd network.

scholarly journals A Small Membrane Stabilizing Protein Critical to the Pathogenicity of Staphylococcus aureus

2020 ◽  
Vol 88 (9) ◽  
Author(s):  
Seána Duggan ◽  
Maisem Laabei ◽  
Alaa Abdulaziz Alnahari ◽  
Eóin C. O’Brien ◽  
Keenan A. Lacey ◽  
...  
Keyword(s):  
Staphylococcus Aureus ◽  
Iron Homeostasis ◽  
Control Strategies ◽  
Antibiotic Resistant ◽  
Content Type ◽  
Promising Target ◽  
Significant Impairment ◽  
The Stability ◽  
Conventional Antibiotics ◽  
And Control

ABSTRACT Staphylococcus aureus is a major human pathogen, and the emergence of antibiotic-resistant strains is making all types of S. aureus infections more challenging to treat. With a pressing need to develop alternative control strategies to use alongside or in place of conventional antibiotics, one approach is the targeting of established virulence factors. However, attempts at this have had little success to date, suggesting that we need to better understand how this pathogen causes disease if effective targets are to be identified. To address this, using a functional genomics approach, we have identified a small membrane-bound protein that we have called MspA. Inactivation of this protein results in the loss of the ability of S. aureus to secrete cytolytic toxins, protect itself from several aspects of the human innate immune system, and control its iron homeostasis. These changes appear to be mediated through a change in the stability of the bacterial membrane as a consequence of iron toxicity. These pleiotropic effects on the ability of the pathogen to interact with its host result in significant impairment in the ability of S. aureus to cause infection in both a subcutaneous and sepsis model of infection. Given the scale of the effect the inactivation of MspA causes, it represents a unique and promising target for the development of a novel therapeutic approach.

Energy-efficient bio-inspired gait planning and control for biped robot based on human locomotion analysis

2016 ◽  
Vol 13 (2) ◽  
pp. 271-282 ◽  
Author(s):  
Hongbo Zhu ◽  
Minzhou Luo ◽  
Tao Mei ◽  
Jianghai Zhao ◽  
Tao Li ◽  
...  
Keyword(s):  
Energy Efficient ◽  
Biped Robot ◽  
Human Locomotion ◽  
Gait Planning ◽  
Planning And Control ◽  
Locomotion Analysis ◽  
And Control

Do management control systems in SMEs reflect CEO demographics?

2014 ◽  
Vol 21 (3) ◽  
pp. 470-488 ◽  
Author(s):  
Anne-Mie Reheul ◽  
Ann Jorissen
Keyword(s):  
System Design ◽  
Control Systems ◽  
Management Control ◽  
Management Control Systems ◽  
Upper Echelons ◽  
Content Type ◽  
Evaluation Systems ◽  
Upper Echelons Theory ◽  
Planning And Control ◽  
And Control

Purpose – Drawing on upper echelons theory, the purpose of this paper is to examine whether CEOs place their distinctive marks on the design of planning, control and evaluation systems (i.e. management control systems (MCS)) in small- and medium-sized enterprises (SMEs). Design/methodology/approach – The authors use survey data from 189 Belgian SMEs and perform regression analyses to investigate the relation between the CEO demographics tenure, education and experience and various aspects of MCS design, controlling for the classical contingent variables. Findings – CEO tenure and education are related to evaluation system design, but there is no link between CEO demographics and planning and control system design. The lack of managerial discretion concerning planning and control systems could be explained by their more external and observable character, giving rise to pressures to comply with institutional norms (“good practices”). The presence of discretion concerning the design of evaluation systems could be due to their internal character. Practical implications – Since evaluation systems are an important determinant of work-related attitudes and can lead to dysfunctional behavior, it is important for company owners and board members to consider the demographics of present or new CEOs, and to understand the associated inclinations reflected in evaluation systems. Originality/value – The authors apply a more comprehensive approach than (the few) existing SME studies by relating a larger number of CEO demographics to a more comprehensive set of MCS elements, controlling for a larger group of contingent variables. Moreover, the authors fill gaps in the upper echelons and MCS literature.

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