Related papers: A Hierarchical fuzzy controller for a biped robot
We argue that hierarchical methods can become the key for modular robots achieving reconfigurability. We present a hierarchical approach for modular robots that allows a robot to simultaneously learn multiple tasks. Our evaluation results…
Humans can produce complex whole-body motions when interacting with their surroundings, by planning, executing and combining individual limb movements. We investigated this fundamental aspect of motor control in the setting of autonomous…
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization…
Neo-fuzzy elements are used as nodes for an evolving cascade system. The proposed system can tune both its parameters and architecture in an online mode. It can be used for solving a wide range of Data Mining tasks (namely time series…
In this paper we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The…
We give a geometric account of kinematic control of a spherical rolling robot controlled by two internal wheels just like the toy robot Sphero. Particularly, we introduce the notion of shape space and fibers to the system by exploiting its…
This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure…
This paper focuses on the construction of differential-cascaded structures for control of nonlinear robot manipulators subjected to disturbances and unavailability of partial information of the desired trajectory. The proposed…
In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…
Interval type-II Fuzzy Inference System (FIS) assumes a crucial role in determining the coefficients of the PID controller, thereby augmenting the controller's flexibility. Controlling chaotic systems presents inherent challenges and…
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…
Autonomous mobile robots have many applications in indoor unstructured environment, wherein optimal movement of the robot is needed. The robot therefore needs to navigate in unknown and dynamic environments. This paper presents an…
A standard approach to building a fuzzy controller based on stochastic logic uses binary random signals with an average (expected value of a random variable) in the range [0, 1]. A different approach is presented, founded on a…
We propose a novel two-layer multi-agent architecture aimed at efficient real-time control of large-scale and complex-dynamics systems. The proposed architecture integrates intelligent control approaches (which have a low computation time…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Formation control is essential for swarm robotics, enabling coordinated behavior in complex environments. In this paper, we introduce a novel formation control system for an indoor blimp swarm using a specialized leader-follower approach…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
In this paper we present a geometric control law for position and line-of-sight stabilization of the nonholonomic spherical robot actuated by three independent actuators. A simple configuration error function with an appropriately defined…
We successfully evolved a neural network controller that produces dynamic walking in a simulated bipedal robot with compliant actuators, a difficult control problem. The evolutionary evaluation uses a detailed software simulation of a…
The control of wheel slip dynamics is one of the most critical areas of chassis control, since it is the basis for most critical of the main chassis control subsystems like braking control (ABS), traction control (TCS), and stability…