scholarly journals Morphological Control of Cilia-Inspired Asymmetric Movements Using Nonlinear Soft Inflatable Actuators

2022 ◽  
Vol 8 ◽  
Author(s):  
Edoardo Milana ◽  
Bert Van Raemdonck ◽  
Andrea Serrano Casla ◽  
Michael De Volder ◽  
Dominiek Reynaerts ◽  
...  
Keyword(s):  
Mechanical Characteristics ◽  
Travelling Wave ◽  
Robotic Systems ◽  
Control Architecture ◽  
Nonlinear Characteristics ◽  
Morphological Control ◽  
Passive Flow ◽  
Control Schemes ◽  
Nonlinear Relation ◽  
Swept Area

Soft robotic systems typically follow conventional control schemes, where actuators are supplied with dedicated inputs that are regulated through software. However, in recent years an alternative trend is being explored, where the control architecture can be simplified by harnessing the passive mechanical characteristics of the soft robotic system. This approach is named “morphological control”, and it can be used to decrease the number of components (tubing, valves and regulators) required by the controller. In this paper, we demonstrate morphological control of bio-inspired asymmetric motions for systems of soft bending actuators that are interconnected with passive flow restrictors. We introduce bending actuators consisting out of a cylindrical latex balloon in a flexible PVC shell. By tuning the radii of the tube and the shell, we obtain a nonlinear relation between internal pressure and volume in the actuator with a peak and valley in pressure. Because of the nonlinear characteristics of the actuators, they can be assembled in a system with a single pressure input where they bend in a discrete, preprogrammed sequence. We design and analyze two such systems inspired by the asymmetric movements of biological cilia. The first replicates the swept area of individual cilia, having a different forward and backward stroke, and the second generates a travelling wave across an array of cilia.

Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces

2020 ◽  
Author(s):  
Violet Mwaffo ◽  
Pietro De Lellis ◽  
Sean Humbert
Keyword(s):  
Formation Control ◽  
Deterministic Model ◽  
Sufficient Conditions ◽  
Robotic Systems ◽  
Control Input ◽  
Stochastic Disturbances ◽  
Driving Speed ◽  
Control Schemes ◽  
Mean Square Convergence ◽  
Double Integrator

Abstract In this work, we analyze the decentralized formation control problem for a class of multi-robotic systems evolving on slippery surfaces. Grounded on experimental data of robots moving on a gravel surface inducing slippery, we show that a deterministic model cannot capture the uncertainties resulting from the kinematics of the robots while, instead, a model incorporating stochastic noise is capable of emulating such perturbations on wheel driving speed and turn rate. To account for these uncertainties, we consider a second order non-holonomic unicycle model to capture the full dynamics of individual vehicles where both actuation force and torque are subject to stochastic disturbances. Upon reducing the input-output dynamics of individual robot to a stochastic double integrator, we investigate the effects of these perturbations on the control input using concepts from stochastic stability theory and through numerical simulations. We demonstrated the applicability of the proposed scheme for formation control notably by providing sufficient conditions for exponential mean square convergence and we numerically determined the range of noise intensities for which team of robots can achieve formation stabilization. The promising findings from this work are expected to aid the design of robust control schemes for formation control of non-holonomic robots on off-road or un-paved surfaces.

Matlab RTW-based Internet Accessible Remote Laboratory for Teaching Robot Control

2012 ◽  
pp. 362-379
Author(s):  
Zdenko Kovacic ◽  
Davor Jerbic ◽  
Vedran Vojvoda ◽  
Siniša Dujmovic
Keyword(s):  
Real Time ◽  
Management System ◽  
Web Application ◽  
Robot Control ◽  
Degrees Of Freedom ◽  
Robotic Systems ◽  
Remote Laboratory ◽  
Scara Robot ◽  
Control Schemes

This chapter describes the use of Matlab Real Time Workshop (RTW) for implementing an Internet Accessible Laboratory (IAL) for teaching robot control. The IAL architecture consists of three key components - IAL Web Application, IAL database, and a set of robot control schemes prepared for students’ laboratory curriculum that are running in Matlab RTW. The IAL management system supports multilingual access and enables easy addition of new users, new robotic systems, and new laboratory exercises related to robot control. The IAL functionality is demonstrated with the example of controlling a four degrees of freedom SCARA robot.

A MODULAR ARCHITECTURE FOR HUMANOID SOCCER ROBOTS WITH DISTRIBUTED BEHAVIOR CONTROL

2008 ◽  
Vol 05 (03) ◽  
pp. 397-416 ◽  
Author(s):  
CARLOS ANTONIO ACOSTA-CALDERON ◽  
RAJESH ELARA MOHAN ◽  
CHANGJIU ZHOU ◽  
LINGYUN HU ◽  
PIK KONG YUE ◽  
...  
Keyword(s):  
Control Architecture ◽  
Behavior Control ◽  
Modular Architecture ◽  
Embedded Control ◽  
Control Schemes ◽  
Control Centre ◽  
Embedded Controller ◽  
Advanced Robotics ◽  
Distributed Behavior ◽  
And Control

This paper presents an embedded control architecture constructed for Robo-Erectus, a soccer-playing humanoid robot developed at the Advanced Robotics and Intelligent Control Centre of Singapore Polytechnic. The Robo-Erectus team has participated in the KidSize category of RoboCup's Humanoid League since 2002, collecting different awards. The latest version of Robo-Erectus has many capabilities that can be exploited to improve the robot's behavior. The new embedded controller has made possible the first stage of the performance (displayed during RoboCup 2007), including network communication, mapping, and localization. The new mechanical, electronic design, embedded control architecture, and control schemes are described in this paper. In addition to the hardware, the paper presents details of the modules for gait generation, vision, behavior control, and communication.

scholarly journals Towards a More Robust Non-Rigid Robotic Joint

2020 ◽  
Vol 3 (4) ◽  
pp. 45
Author(s):  
Vítor H. Pinto ◽  
José Gonçalves ◽  
Paulo Costa
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Robotic Manipulators ◽  
Robotic Systems ◽  
Control Architecture ◽  
Effective Solution ◽  
Adverse Conditions ◽  
Compliant Control ◽  
Rigid Joints ◽  
Final System

The following paper presents an improved, low cost, non-rigid joint that can be used in both robotic manipulators and leg-based traction robotic systems. This joint is an improvement over the previous one presented by the same authors because it is more robust. The design iterations are presented and the final system has been modeled including some nonlinear blocks. A control architecture is proposed that allows compliant control to be used under adverse conditions or in uncontrolled environments. The presented joint is a cost-effective solution that can be used when normal rigid joints are not suitable.

scholarly journals System-Level Testing and Evaluation Plan for Field Robots: A Tutorial with Test Course Layouts

Robotics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 83
Author(s):  
William R. Norris ◽  
Albert E. Patterson
Keyword(s):  
Functional Performance ◽  
Academic Research ◽  
Testing Procedure ◽  
Robotic Systems ◽  
System Level ◽  
Field Robots ◽  
Field Robotics ◽  
Performance Requirements ◽  
Control Schemes ◽  
And Behavior

Field robotics is a very important sub-field of robotic systems, focusing on systems which need to navigate in open, unpredictable terrain and perform non-repetitive missions while monitoring and reacting to their surroundings. General testing and validation standards for larger robotic systems, including field robots, have not been developed yet due to a variety of factors including disagreement over terminology and functional/performance requirements. This tutorial presents a generalized, step-by-step system-level test plan for field robots under manual, semi-autonomous/tele-operated, and autonomous control schemes; this includes a discussion of the requirements and testing parameters, and a set of suggested safety, communications, and behavior evaluation test courses. The testing plan presented here is relevant to both commercial and academic research into field robotics, providing a standardized general testing procedure.

Impedance Control of Space Robots Using Passive Degrees of Freedom in Controller Domain

2005 ◽  
Vol 127 (4) ◽  
pp. 564-578 ◽  
Author(s):  
Pushpraj Mani Pathak ◽  
Amalendu Mukherjee ◽  
Anirvan Dasgupta
Keyword(s):  
Force Control ◽  
Degrees Of Freedom ◽  
Impedance Control ◽  
Space Structure ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Stable Method ◽  
Space Robots ◽  
End Effector ◽  
Control Schemes

Impedance control is an efficient and stable method of providing trajectory and force control in robotic systems. The procedure by which the impedance of the manipulator is changed is a very important aspect in the design of impedance based control schemes. In this work, a scheme is presented in which the control of impedance at the interface of the end effector and the space structure is achieved by introduction of a passive degree of freedom (DOF) in the controller of the robotic system. The impedance is shown to depend upon a compensation gain for the dynamics of the passive DOF. To illustrate the methodology, an example of a two DOF planer space robot is considered.

scholarly journals PROBLEMS OF CONTROL OF MIDWATER TRAWL COMPLEXES USING EQUATIONS OF ELECTRIC AND MECHANICAL DRIVES OF TRAWL WINCHES

2020 ◽  
Vol 2020 (4) ◽  
pp. 93-101
Author(s):  
Aleksandr Nedostup ◽  
Alexey Olegovich Razhev ◽  
Vyacheslav Valerievich Makarov
Keyword(s):  
Artificial Intelligence ◽  
Predictive Modeling ◽  
Information Technologies ◽  
Interdisciplinary Approach ◽  
Robotic Systems ◽  
Control Architecture ◽  
New Materials ◽  
Midwater Trawl ◽  
Modern Information ◽  
Self Learning

The paper touches upon the problems of transition to advanced digital, intelligent man-ufacturing technologies, robotic systems, new materials and design methods, the creation of systems for processing large amounts of data, machine learning and artificial intelligence. Automation of fishing process requires an interdisciplinary approach using modern information technologies. The possibility of using artificial intelligence technologies for solving the problems of predictive modeling of the behavior of a trawl system while fishing on a self-learning neural network has been proved. The equations of electric and mechanical drives of trawl winches for controlling the shape-changing design of a midwater trawl are given. The question of improving the control characteristics of a midwater trawl system by introducing a control architecture adapted for the trawl system taking into account the industrial requirements and by developing a mathematical model of the trawl system, in-cluding an accurate model of hydrodynamic forces on the trawl flaps is considered.

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