scholarly journals Dynamic Locomotion of a Biomorphic Quadruped ‘Tekken’ Robot Using Various Gaits: Walk, Trot, Free-Gait and Bound

2009 ◽  
Vol 6 (1) ◽  
pp. 63-71 ◽  
Author(s):  
Y. Fukuoka ◽  
H. Kimura
Keyword(s):  
Control System ◽  
Control Method ◽  
Central Pattern Generators ◽  
Legged Locomotion ◽  
Irregular Terrain ◽  
Flat Terrain ◽  
New Development ◽  
Pattern Generators ◽  
And Control ◽  
Running Robots

Numerous quadruped walking and running robots have been developed to date. Each robot walks by means of a crawl, walk, trot or pace gait, or runs by means of a bound and/or gallop gait. However, it is very difficult to design a single robot that can both walk and run because of problems related to mechanisms and control. In response to this, we adapted a biological control method for legged locomotion in order to develop a dog-like quadruped robot we have named ‘Tekken’. Tekken has a control system that incorporates central pattern generators, reflexes and responses as well as a mechanism that makes the most of the control system. Tekken, which is equipped with a single mechanism, an unchangeable control method, and modifiable parameters, is capable of achieving walking and trotting on flat terrain, can walk using a free gait on irregular terrain, and is capable of running on flat terrain using a bounding gait. In this paper, we describe the mechanism, the control method and the experimental results of our new development.

Development of a Ring Permeability Test System

2010 ◽  
Vol 136 ◽  
pp. 153-157
Author(s):  
Yu Hong Du ◽  
Xiu Ming Jiang ◽  
Xiu Ren Li
Keyword(s):  
Control System ◽  
Control Method ◽  
Dynamic Performance ◽  
Experimental Tests ◽  
Measuring Method ◽  
Test System ◽  
Fluid Theory ◽  
And Control ◽  
Relationship Of ◽  
The Mathematical Model

To solve the problem of detecting the permeability of the textile machinery, a dedicated test system has been developed based on the pressure difference measuring method. The established system has a number of advantages including simple, fast and accurate. The mathematical model of influencing factors for permeability is derived based on fluid theory, and the relationship of these parameters is achieved. Further investigations are directed towards the inherent characteristics of the control system. Based on the established model and measuring features, an information fusion based clustering control system is proposed to implement the measurement. Using this mechanical structure, a PID control system and a cluster control system have been developed. Simulation and experimental tests are carried out to examine the performance of the established system. It is noted that the clustering method has a high dynamic performance and control accuracy. This cluster fusion control method has been successfully utilized in powder metallurgy collar permeability testing.

Sensory regulation of quadrupedal locomotion: a top-down or bottom-up control system?

2012 ◽  
Vol 108 (3) ◽  
pp. 709-711 ◽  
Author(s):  
Yann Thibaudier ◽  
Marie-France Hurteau
Keyword(s):  
Control System ◽  
Central Pattern Generators ◽  
Top Down ◽  
Bottom Up ◽  
Sensory Inputs ◽  
Sensory Regulation ◽  
Before And After ◽  
Pattern Generators

Propriospinal pathways are thought to be critical for quadrupedal coordination by coupling cervical and lumbar central pattern generators (CPGs). However, the mechanisms involved in relaying information between girdles remain largely unexplored. Using an in vitro spinal cord preparation in neonatal rats, Juvin and colleagues ( Juvin et al. 2012 ) have recently shown sensory inputs from the hindlimbs have greater influence on forelimb CPGs than forelimb sensory inputs on hindlimb CPGs, in other words, a bottom-up control system. However, results from decerebrate cats suggest a top-down control system. It may be that both bottom-up and top-down control systems exist and that the dominance of one over the other is task or context dependent. As such, the role of sensory inputs in controlling quadrupedal coordination before and after injury requires further investigation.

scholarly journals Evolution of central pattern generators for the control of a five-link bipedal walking mechanism

2012 ◽  
Vol 3 (1) ◽  
Author(s):  
Atılım Güneş Baydin
Keyword(s):  
Robot Control ◽  
Central Pattern Generators ◽  
Legged Locomotion ◽  
Bipedal Walking ◽  
Biologically Inspired ◽  
Neurophysiological Studies ◽  
Real Robot ◽  
Pattern Generators ◽  
And Performance ◽  
Walking Mechanism

AbstractCentral pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for a specific task and it is acknowledged in the field that generic methods and design principles for creating individual networks for a given task are lacking. This study presents an approach where the connectivity and oscillatory parameters of a CPG network are determined by an evolutionary algorithm with fitness evaluations in a realistic simulation with accurate physics. We apply this technique to a five-link planar walking mechanism to demonstrate its feasibility and performance. In addition, to see whether results from simulation can be acceptably transferred to real robot hardware, the best evolved CPG network is also tested on a real mechanism. Our results also confirm that the biologically inspired CPG model is well suited for legged locomotion, since a diverse manifestation of networks have been observed to succeed in fitness simulations during evolution.

Integrated guidance and control of interceptors with impact angle constraint against a high-speed maneuvering target

2019 ◽  
Vol 233 (14) ◽  
pp. 5192-5204
Author(s):  
Guanjie Hu ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Control System ◽  
High Speed ◽  
Control Method ◽  
Impact Angle ◽  
Adaptive Sliding Mode Control ◽  
Guidance And Control ◽  
Maneuvering Target ◽  
Integrated Guidance And Control ◽  
And Control ◽  
Impact Angle Constraint

An integrated guidance and control method is investigated for interceptors with impact angle constraint against a high-speed maneuvering target. Firstly, a new control-oriented model with impact angle constraint of the integrated guidance and control system is built in the pitch plane by combining the engagement kinematics and missile dynamics model between the interceptor and target. Secondly, the flight path angle of the target is estimated by extended Kalman filter in order to transform the terminal impact angle constraint into the terminal line-of-sight angle constraint. Thirdly, a nonlinear adaptive sliding mode control law of the integrated guidance and control system is designed in order to directly obtain the rudder deflection command, which eliminates time delay caused by the traditional backstepping control method. Then the Lyapunov stability theory is used to prove the stability of the whole closed-loop integrated guidance and control system. Finally, the simulation results confirm that the integrated guidance and control method proposed in this paper can effectively improve the interception performance of the interceptor to a high-speed maneuvering target.

Greenhouse Monitoring and Control System Based on Zigbee

2013 ◽  
Vol 347-350 ◽  
pp. 768-771 ◽  
Author(s):  
Jian Jun Zhou ◽  
Xiao Fang Wang ◽  
Xiu Wang ◽  
Wei Zou ◽  
Ji Chen Cai
Keyword(s):  
Control System ◽  
Remote Monitoring ◽  
Control Method ◽  
Control Mode ◽  
Monitoring And Control ◽  
Control Software ◽  
Monitoring And Control System ◽  
Centralized Management ◽  
Remote Monitoring And Control ◽  
And Control

A greenhouse monitoring and control system based on Zigbee networks was developed. This system consists of greenhouse data acquisition controller and greenhouse remote monitoring and control software. The system could monitor temperature and humidity, soil water content and concentration of carbon dioxide in greenhouse and could save these greenhouse data to database. Greenhouse acquisition controller had two kinds of control modes, including local manual control mode and remote wireless control mode in monitoring center. Greenhouse remote monitoring and control software can collect, display and record the collected data, also can control greenhouse environment. According to the current indoor temperature, the target temperature and the offset temperature, PID control method is used for temperature control in greenhouse. The system is implemented using low power wireless components, and easy to be installed. A good wireless solution is provided by this system for centralized management of the greenhouse group.

scholarly journals New Integrated Guidance and Control of Homing Missiles with an Impact Angle against a Ground Target

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Shengjiang Yang ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Control System ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Impact Angle ◽  
Guidance And Control ◽  
Ground Target ◽  
Integrated Guidance And Control ◽  
And Control ◽  
The Impact

A new integrated guidance and control (IGC) law is investigated for a homing missile with an impact angle against a ground target. Firstly, a control-oriented model with impact angle error of the IGC system in the pitch plane is formulated by linear coordinate transformation according to the motion kinematics and missile dynamics model. Secondly, an IGC law is proposed to satisfy the impact angle constraint and to improve the rapidity of the guidance and control system by combining the sliding mode control method and nonlinear extended disturbance observer technique. Thirdly, stability of the closed-loop guidance and control system is proven based on the Lyapunov stability theory, and the relationship between the accuracy of the impact angle and the estimate errors of nonlinear disturbances is derived from stability of the sliding mode. Finally, simulation results confirm that the proposed IGC law can improve the performance of the missile guidance and control system against a ground target.

Modeling and Vibration Control of a Flexible Rotor by Using Magnetic Bearings

2011 ◽  
Author(s):  
Takuya Nomoto ◽  
Daisuke Hunakoshi ◽  
Toru Watanabe ◽  
Kazuto Seto
Keyword(s):  
Control System ◽  
Control Method ◽  
Design Procedure ◽  
Modeling Method ◽  
Magnetic Bearings ◽  
Active Magnetic Bearings ◽  
Flexible Rotor ◽  
Modeling And Control ◽  
Elastic Modes ◽  
And Control

This paper presents a new modeling method and a control system design procedure for a flexible rotor with many elastic modes using active magnetic bearings. The purpose of our research is to let the rotor rotate passing over the 1st and the 2nd critical speeds caused by flexible modes. To achieve this, it is necessary to control motion and vibration of the flexible rotor simultaneously. The new modeling method named as Extended Reduced Order Physical Model is presented to express its motion and vibration uniformly. By using transfer function of flexible rotor-Active Magnetic Bearings system, we designed a Local Jerk Feedback Control system and conducted stability discrimination with root locus. In order to evaluate this modeling and control method, levitation experimentation is conducted.

Software System Development of Measurement and Control System for a Nonlinear Absorber by Virtual Instrument

2011 ◽  
Vol 188 ◽  
pp. 236-240
Author(s):  
Cong Ling Zhu ◽  
Wei Zhu Jin ◽  
D.R. Ci ◽  
Zhi Gang Ding ◽  
S.T. Wu
Keyword(s):  
Control System ◽  
Virtual Instrument ◽  
System Development ◽  
System Structure ◽  
Software System ◽  
Measurement And Control System ◽  
Nonlinear Absorber ◽  
New Development ◽  
And Control ◽  
Measurement And Control

Measurement and control system is the key equipment for testing and analyzing of the dynamic characteristics for a nonlinear absorber.It is the necessary means of accomplishing to design the rationalization of the nonlinear absorber. This article has conducted the detailed research in the new development of absorber test equipment to the desing of system structure, The constituent of software system, and The process design, and The development of the computer program based on virtual techniques. Debugging and running this software system have shown that the precision and reliability of it have been proved.

Real-Time Monitoring and Automatic Control for Aerosol Cultivation of Lettuce

2014 ◽  
Vol 678 ◽  
pp. 299-304
Author(s):  
Bao Guo Yao ◽  
Zhe Feng Zhang
Keyword(s):  
Control System ◽  
Automatic Control ◽  
Real Time ◽  
Nutrient Solution ◽  
Control Method ◽  
Ph Value ◽  
Agricultural Science ◽  
Monitoring And Control ◽  
Real Time Monitoring ◽  
And Control

The automatic monitoring and control method for aerosol cultivation of lettuce was proposed by real-time monitoring and automatic control of the cultivation environment, on-line detection and automatic control of nutrient solution, and the combination of field control and remote control, which has realized the intelligent management of aerosol cultivation of lettuce based on plant factory. The monitoring and control system of aerosol cultivation, the control model for the spray frequency of nutrient solution and the fuzzy control method for the pH value control of nutrient solution were introduced. The control system has been applied in the agricultural science and technology park, and the results show that the aerosol cultivation of lettuce has advantages over the traditional method.

Design of Missile Longitudinal Control System Based on Backstepping Control

2014 ◽  
Vol 496-500 ◽  
pp. 1401-1406
Author(s):  
Mei Hong Li ◽  
Jian Yin ◽  
Xue Yang Sun ◽  
Jin Xiang Xu ◽  
Mei Mei Zhang
Keyword(s):  
Control System ◽  
Control Method ◽  
Input Saturation ◽  
Lyapunov Stability Theory ◽  
Feedback System ◽  
Backstepping Control ◽  
Control Input ◽  
Backstepping Method ◽  
Longitudinal Control ◽  
And Control

Missile control system is not block strict feedback system which is suitable to use backstepping method. So in this paper, a backstepping control method is proposed to design a missile longitudinal autopilot and is proved to be asymptotically stable by Lyapunov stability theory. The simulation results show that the designed system can still track commands quickly and accurately and is robust with aerodynamic perturbation and control input saturation.

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