Related papers: Designing and Analyzing the PID and Fuzzy Control …
Traditional linear control strategies have been extensively researched and utilized in many robotic and industrial applications and yet they do not respond to the total dynamics of the systems. To avoid tedious calculations for nonlinear…
We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they depend on terrain topology. To achieve this level of…
A new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of bipedal robots. This new paradigm, known as the ALIP model,…
In this paper, a Multiple Models Adaptive Fuzzy Logic Controller (MM-AFLC) with Neural Network Identification is designed to control the unmanned vehicle in Intelligent Autonomous Parking System. The objective is to achieve robust control…
In this paper, a Fuzzy Inference System (FIS) is fabricated on a riderless bicycle. The Fuzzy Inference System is based on a rule base inherited from human experience of bicycle riding. The steady turning motion and roll-angle tracking…
Fuzzy logic controllers are readily customizable in natural language terms and can effectively deal with nonlinearities and uncertainties in control systems. This paper presents an intelligent and automated fuzzy control procedure for the…
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…
Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test…
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…
Rehabilitation robotics combined with video game technology provides a means of assisting in the rehabilitation of patients with neuromuscular disorders by performing various facilitation movements. The current work presents ReHabGame, a…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than real-time. This is achieved with a novel representation of the…
In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the Linear Inverted Pendulum (LIP) dynamics. Utilizing the LIP…
This letter presents a multi-scenario adaptable intelligent robot simulation platform based on LIDAR-inertial fusion, with three main features: (1 The platform includes an versatile robot model that can be freely controlled through manual…
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
This paper describes the speed control of a DC series motor for an accurate and high-speed performance. A neural network based controlling operation with fuzzy modeling is suggested in this paper. The driver units of these machines are…
A novel self-organizing fuzzy proportional-integral-derivative (SOF-PID) control system is proposed in this paper. The proposed system consists of a pair of control and reference models, both of which are implemented by a first-order…
Humans can balance very well during walking, even when perturbed. But it seems difficult to achieve robust walking for bipedal robots. Here we describe the simplest balance controller that leads to robust walking for a linear inverted…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…
A Swinging Atwood Machine (SAM) is built and some experimental results concerning its dynamic behaviour are presented. Experiments clearly show that pulleys play a role in the motion of the pendulum, since they can rotate and have…