An Alternative Open Architecture Controller Design for the Bioloid Humanoid Robot

2020 ◽  
Vol 16 (JUNE 2020) ◽  
pp. 1-9
Author(s):  
‘Aqilah Zainuddin ◽  
Mohamed Ahmed ◽  
Md Mahfudz Md Zan ◽  
Habibah Hashim
Keyword(s):  
Humanoid Robot ◽  
Controller Design ◽  
Open Architecture ◽  
Open Architecture Controller

Open architecture controller for a 22-DOF humanoid robot

2016 ◽  
Author(s):  
Luis A. Ortega-Rodriguez ◽  
Adrian Salazar-Almanza ◽  
Manuel E. Tapia-Ruiz ◽  
Jeovany Velasco-Avella ◽  
Mauro Santoyo-Mora ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Open Architecture ◽  
Open Architecture Controller

A PC-Based Open Architecture Controller: Design, Implementation, and Operation

1999 ◽  
Author(s):  
Louis A. Marchetti ◽  
Paul K. Wright
Keyword(s):  
Personal Computer ◽  
Controller Design ◽  
Low Cost ◽  
Building Blocks ◽  
Third Party ◽  
Open Architecture ◽  
Software Components ◽  
Machining Center ◽  
Open Architecture Controller ◽  
High Level

Abstract This paper reports the implementation of an open architecture controller on a 3-axis machining center. This new controller, called MOSAIC-PC, takes advantage of readily available, off the shelf components, and the flexibility and low cost of the personal computer. While commercial products have been used as the building blocks for MOSAIC-PC, the overall architecture is novel. Specifically, high level CAD curves and patches, such as NURBS, can be incorporated at the machine level and sensor based machining is integrated in real-time. A description of the hardware and software components is given and the ease of integrating third party components is described. Finally the functionality of MOSAIC-PC is demonstrated.

scholarly journals State Feedback Sliding Mode Controller Design for Human Swing Leg System

2018 ◽  
Vol 21 (1) ◽  
pp. 51 ◽  
Author(s):  
Hazem I. Ali ◽  
Azhar J. Abdulridha
Keyword(s):  
State Feedback ◽  
Humanoid Robot ◽  
Controller Design ◽  
Sliding Mode ◽  
Knee Joints ◽  
Upper Body ◽  
Double Pendulum ◽  
Robot Leg ◽  
Dynamic Output Feedback Controller ◽  
The Mathematical Model

In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.

A PC-based Open Architecture Controller for Robot

2004 ◽  
Vol 3 (3) ◽  
pp. 296-302 ◽  
Author(s):  
Pan Liandong ◽  
Huang Xinhan . ◽  
Mohammad Arif .
Keyword(s):  
Open Architecture ◽  
Open Architecture Controller

Robust Adaptive Control for Vision-Based Stabilization of a Wheeled Humanoid Robot

2016 ◽  
Vol 13 (03) ◽  
pp. 1650010 ◽  
Author(s):  
Zhengcai Cao ◽  
Longjie Yin ◽  
Yili Fu ◽  
Jian S. Dai
Keyword(s):  
Adaptive Control ◽  
Humanoid Robot ◽  
Controller Design ◽  
Robust Adaptive Control ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Robot Kinematics ◽  
Unknown Parameters ◽  
Actuator Dynamics ◽  
Robust Adaptive

A significant amount of work has been reported in the area of vision-based stabilization of wheeled robots during the last decade. However, almost all the contributions have not considered the actuator dynamics in the controller design. Considering the unknown parameters of the robot kinematics and dynamics incorporating the actuator dynamics, this paper presents a vision-based robust adaptive controller for the stabilization of a wheeled humanoid robot by using the adaptive backstepping approach. For the controller design, the idea of backstepping is used and the adaptive control technique is applied to treat all parametric uncertainties. Moreover, to attenuate the effect of the external disturbances on control performance, smooth robust compensators are employed. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to verify the effectiveness of the proposed controller.

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