The null-space-based behavioral control for soccer-playing mobile robots

2006 ◽  
Author(s):  
G. Antonelli ◽  
F. Arrichiello ◽  
S. Chiaverini
Keyword(s):  
Mobile Robots ◽  
Null Space ◽  
Behavioral Control

The Null-Space-based Behavioral Control for Mobile Robots with Velocity Actuator Saturations

2010 ◽  
Vol 29 (10) ◽  
pp. 1317-1337 ◽  
Author(s):  
Filippo Arrichiello ◽  
Stefano Chiaverini ◽  
Giovanni Indiveri ◽  
Paola Pedone
Keyword(s):  
Mobile Robots ◽  
Null Space ◽  
Behavioral Control

Tension distribution shaping via reconfigurable attachment in planar mobile cable robots

Robotica ◽  
2013 ◽  
Vol 32 (2) ◽  
pp. 245-256 ◽  
Author(s):  
Xiaobo Zhou ◽  
Seung-kook Jun ◽  
Venkat Krovi
Keyword(s):  
Mobile Robots ◽  
Configuration Space ◽  
Optimization Problem ◽  
Null Space ◽  
Experimental Studies ◽  
Analysis Framework ◽  
Tension Distribution ◽  
Fixed Base ◽  
Tension Direction ◽  
Cable Robots

SUMMARYTraditional cable robots derive their manipulation capabilities using spooling winches at fixed base locations. In our previous work, we examined enhancing manipulation capabilities of cable robots by the addition of base mobility to spooling winches (allowing a group of mobile robots to cooperatively manipulate a payload using cables). Base mobility facilitated the regulation of the tension-direction (via active coordination of mobile bases) and allowed for better conditioning of the wrench-feasible workspace. In this paper we explore putting idler pulleys on the payload attachment as alternate means to simplify the design and enable practical deployment. We examine analysis of the system using ellipse geometry and develop a virtual cable-subsystem formulation (which also facilitates subsumption into the previously developed mobile cable robot analysis framework). We also seek improvement of the tension distribution by utilizing configuration space redundancy to shape the tension null space. This tension distribution shaping is implemented in the form of a tension factor optimization problem over the workspace and explored via both simulation and experimental studies.

scholarly journals Cooperative Carrying Control for Multi-Evolutionary Mobile Robots in Unknown Environments

Electronics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 298 ◽  
Author(s):  
Jyun-Yu Jhang ◽  
Cheng-Jian Lin ◽  
Kuu-Young Young
Keyword(s):  
Differential Evolution ◽  
Mobile Robots ◽  
Target Location ◽  
Learning Strategy ◽  
Control Method ◽  
Behavioral Control ◽  
Differential Evolution Algorithm ◽  
Experimental Results ◽  
Unknown Environment ◽  
Navigation Control

This study provides an effective cooperative carrying and navigation control method for mobile robots in an unknown environment. The manager mode switches between two behavioral control modes—wall-following mode (WFM) and toward-goal mode (TGM)—based on the relationship between the mobile robot and the unknown environment. An interval type-2 fuzzy neural controller (IT2FNC) based on a dynamic group differential evolution (DGDE) is proposed to realize the carrying control and WFM control for mobile robots. The proposed DGDE uses a hybrid method that involves a group concept and an improved differential evolution to overcome the drawbacks of the traditional differential evolution algorithm. A reinforcement learning strategy was adopted to develop an adaptive WFM control and achieve cooperative carrying control for mobile robots. The experimental results demonstrated that the proposed DGDE is superior to other algorithms at using WFM control. Moreover, the experimental results demonstrate that the proposed method can complete the task of cooperative carrying, and can realize navigation control to enable the robot to reach the target location.

Sign in / Sign up

Export Citation Format

Share Document