Utilization of inertial effect in damping-based posture control of mobile manipulator

2002 ◽  
Author(s):  
Sungchul Kang ◽  
Kiyoshi Komoriya ◽  
K. Yokoi ◽  
T. Koutoku ◽  
K. Tanie
Keyword(s):  
Posture Control ◽  
Inertial Effect ◽  
Mobile Manipulator

Posture Control in Mild Mental Retardation

2003 ◽  
Author(s):  
Huh Jin-Young ◽  
Lee Jae-Won ◽  
Lee Chai-Hang
Keyword(s):  
Mental Retardation ◽  
Posture Control ◽  
Mild Mental Retardation

Posture Control for Personal Mobility Robot using Feedback Compensation with Unstable Pole

2013 ◽  
Vol 133 (3) ◽  
pp. 282-289
Author(s):  
Noriaki Hirose ◽  
Ryosuke Tajima ◽  
Kazutoshi Sukigara ◽  
Yuji Tsusaka
Keyword(s):  
Posture Control ◽  
Personal Mobility ◽  
Feedback Compensation

scholarly journals Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator

2018 ◽  
Author(s):  
Vasileios Vasilopoulos ◽  
T. Turner Topping ◽  
William Vega-Brown ◽  
Nicholas Roy ◽  
Daniel E. Koditschek
Keyword(s):  
Mobile Manipulator

scholarly journals A Cryptography-Powered Infrastructure to Ensure the Integrity of Robot Workflows

2021 ◽  
Vol 1 (1) ◽  
pp. 93-118
Author(s):  
Benjamin Breiling ◽  
Bernhard Dieber ◽  
Martin Pinzger ◽  
Stefan Rass
Keyword(s):  
Real World ◽  
Digital Signature ◽  
Mobile Manipulator ◽  
Separate Entity ◽  
Application Development ◽  
Development Environment ◽  
Essential Step ◽  
Distributed Ledger ◽  
Compliant Robot ◽  
Distributed Infrastructure

With the growing popularity of robots, the development of robot applications is subject to an ever increasing number of additional requirements from e.g., safety, legal and ethical sides. The certification of an application for compliance to such requirements is an essential step in the development of a robot program. However, at this point in time it must be ensured that the integrity of this program is preserved meaning that no intentional or unintentional modifications happen to the program until the robot executes it. Based on the abstraction of robot programs as workflows we present in this work a cryptography-powered distributed infrastructure for the preservation of robot workflows. A client composes a robot program and once it is accepted a separate entity provides a digital signature for the workflow and its parameters which can be verified by the robot before executing it. We demonstrate a real-world implementation of this infrastructure using a mobile manipulator and its software stack. We also provide an outlook on the integration of this work into our larger undertaking to provide a distributed ledger-based compliant robot application development environment.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

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