Gait generation and terrain navigation algorithm design for a self-reconfigurable robot

2015 ◽  
Author(s):  
Fatima Ahsan ◽  
K. M. Hasan
Keyword(s):  
Algorithm Design ◽  
Gait Generation ◽  
Navigation Algorithm ◽  
Reconfigurable Robot

scholarly journals Spacecraft Autonomous GPS Navigation based on Polytopic Linear Differential Inclusion

2014 ◽  
Vol 68 (3) ◽  
pp. 511-527 ◽  
Author(s):  
Zhen Chen ◽  
Jialin Li ◽  
Xiangdong Liu
Keyword(s):  
Differential Inclusion ◽  
Autonomous Navigation ◽  
Nonlinear Filtering ◽  
Estimation Error ◽  
Algorithm Design ◽  
System Model ◽  
Estimation Accuracy ◽  
Navigation Algorithm ◽  
Linear Differential ◽  
Global Linearization

Aiming at improving the poor real-time performance of existing nonlinear filtering algorithms applied to spacecraft autonomous navigation based on Global Positioning System (GPS) measurements and simplifying the algorithm design of navigation algorithms, a spacecraft autonomous navigation algorithm based on polytopic linear differential inclusion is proposed in this paper. Firstly, it is demonstrated that the nonlinear estimation error system of spacecraft autonomous navigation can be modelled as a polytopic linear differential inclusion system model according to the idea of global linearization. Thus, the filtering of a nonlinear system simplified to a filtering of a polytopic linear system with coefficients. Secondly, Tensor-Product (TP) model transformation is applied to determine the polytopic linear differential inclusion system model. The model error introduced by global linearization is reduced and the compromise between computational complexity and modelling accuracy is realised. Finally, a spacecraft autonomous navigation algorithm based on polytopic linear differential inclusion is designed by combining multi-model Kalman filtering with data fusion. Compared with an Extended Kalman Filter (EKF), the proposed algorithm is simpler and easier to implement since it need not update the Jacobian matrices online. Simulation results demonstrate the same estimation accuracy of the proposed algorithm to that of EKF.

Special Issue on Robotic Technologies Towards Industrial Applications

2012 ◽  
Vol 6 (1) ◽  
pp. 3-3
Author(s):  
Weijun Zhang ◽  
Naoki Asakawa
Keyword(s):  
High Performance ◽  
Mechanical Design ◽  
Algorithm Design ◽  
Industrial Applications ◽  
Special Issue ◽  
Reliability Design ◽  
Navigation Algorithm ◽  
Intelligent Software ◽  
Flexible Mechanisms ◽  
Robotic Technologies

Robotics technologies have come to be widely developed for and applied to a variety of industrial areas, including the manufacturing, transportation, and public security fields. Broadly defined, the robotics technologies implemented in industry involve numerous flexible mechanisms, high-precision control, multi-sensor integration and fusion, high-performance computation, and intelligent software. The collection of articles featured in this special issue concerns several of the robotics technologies touched upon above, such as the mechanical design methodology and applications of manipulators in joint compliance research, the reliability design and implementation of robots utilized to feed glassmaking-materials in the glass industry, and the sensing techniques and navigation algorithm design in multi-floor structural environments, to mention just a few. These papers include too many subjects to all be mentioned here, and have presented exemplifications and applicable approaches to both conventional and cutting-edge industry. They have also greatly enhanced the research and development of robotic technologies. We would like to express our sincere appreciation to the authors, the reviewers, and the editors for their invaluable contributions in making this issue possible.

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