Related papers: Designing and Analyzing the PID and Fuzzy Control …
Inverse linear programming (LP) has received increasing attention due to its potential to generate efficient optimization formulations that can closely replicate the behavior of a complex system. However, inversely inferred parameters and…
To address the operational challenges of in-pipe robots in large pipes of water distribution systems (WDS), in this research, a control algorithm is proposed for our previously designed robot [4]. Our size adaptable robot has an…
Model-based feedforward control improves tracking performance of motion systems, provided that the model describing the inverse dynamics is of sufficient accuracy. Model sets, such as neural networks (NNs) and physics-guided neural networks…
In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically balancing themselves on wheels. Characterized by several degrees of freedom, they…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
We present an advanced and novel control method to enable actuated Spring Loaded Inverted Pendulum model to walk over rough and challenging terrains. The high-level philosophy is the decoupling of the controls of the vertical and horizontal…
The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
We present a real-time system that enables bidirectional human-AI learning and teaching in a balancing task that is a realistic analogue of disorientation during piloting and spaceflight. A human subject and autonomous AI model of choice…
An intuitive control method for the flying trot, which combines offline trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the…
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping…
In this paper we present a Fuzzy Logic control approach designed to stabilize a multi-input multi-output magnetic suspension system. The system has four cubic floaters and four actuators that apply magnetic forces on the floaters, the…
This paper aims to present a stability control strategy for quadruped robot under lateral impact with the help of lateral trot. We firstly propose five necessary conditions for keeping balance. The classical four-neuron Central Pattern…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
We consider a classical problem of control of an inverted pendulum by means of a horizontal motion of its pivot point. We suppose that the control law can be non-autonomous and non-periodic w.r.t. the position of the pendulum. It is shown…
This study proposes a control strategy for the efficient semi active suspension systems utilizing a novel hybrid PID-fuzzy logic control scheme .In the control architecture, we employ the Chaotic Fruit Fly Algorithm for PID tuning since it…
Spherical robots offer unique advantages for mapping applications in hazardous or confined environments, thanks to their protective shells and omnidirectional mobility. This work presents two complementary spherical mapping systems: a…
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…