Related papers: Oscillation Damping Control of Pendulum-like Manip…
In the paper we consider systems in oscillating force fields such that the classical method of averaging can be applied. We present sufficient conditions for the existence of forced oscillations in such systems and study the asymptotic…
The author considers the planar rotational motion of the mathematical pendulum with its pivot oscillating both vertically and horizontally, so the trajectory of the pivot is an ellipse close to a circle. The analysis is based on the exact…
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined…
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation. In this work, we present a novel…
The response of an oscillating granular damper to an initial perturbation is studied using experiments performed in microgravity and granular dynamics mulations. High-speed video and image processing techniques are used to extract…
A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…
A model for harmonic oscillator damping due to the internal friction of solids has been developed, based on considerations of a long period pendulum. The assumption of a complex elastic modulus to describe stress-strain hysteresis in the…
Gravitational forces that oscillate at audio-band frequencies are measured with masses suspended as pendulums that have resonance frequencies even lower. If the pendulum is excited by thermal energy or by seismic motion of the environment,…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
This paper investigates the potential for stabilizing an inverted pendulum without electric devices, using gravitational potential energy. We propose a wheeled mechanism on a slope, specifically, a wheeled double pendulum, whose second…
In this paper, a phasor measurement unit (PMU)-based wide-area damping control method is proposed to damp the interarea oscillations that threaten the modern power system stability and security. Utilizing the synchronized PMU data, the…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
Aerial manipulators are increasingly used in contact-based industrial applications, where tasks like drilling and pushing require platforms to exert significant forces in multiple directions. To enhance force generation capabilities,…
In this paper, we present a stabilizing Nonlinear Model Predictive Control (NMPC) scheme tailored for a class of nonholonomic systems with drift, where the acceleration is laterally restrained. Examples include a mobile robot with drifting…
This paper presents a comprehensive refurbishment of the interactive robotic art installation Standards and Double Standards by Rafael Lozano-Hemmer. The installation features an array of belts suspended from the ceiling, each actuated by…
The humble pendulum is often invoked as the archetype of a simple, gravity driven, oscillator. Under ideal circumstances, the oscillation frequency of the pendulum is independent of its mass and swing amplitude. However, in most real-world…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
If a contact of two purely elastic bodies with no sliding (infinite coefficient of friction) is subjected to superimposed oscillations in the normal and tangential directions, then a specific damping appears, that is not dependent on…
Hopping robots often lose balance on slopes because the tilted ground creates unwanted rotation at landing. This work analyzes that effect using a simple spring mass model and identifies how slope induced impulses destabilize the robot. To…