Related papers: Simple Two-wheel Self-Balancing Robot Implementati…
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…
There is a growing trend towards the convergence of cyber-physical systems (CPS) and social computing, which will lead to the emergence of smart communities composed of various objects (including both human individuals and physical things)…
Cyber-physical systems (CPS) are being increasingly utilized for critical applications. CPS combines sensing and computing elements, often having multi-layer designs with networking, computational, and physical interfaces, which provide…
We present a solvable biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a…
In this paper, we present a user-friendly planetary rover's control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using…
Autonomous cyber-physical systems (CPS) can improve safety and efficiency for safety-critical applications, but require rigorous testing before deployment. The complexity of these systems often precludes the use of formal verification and…
Cyber-Physical Systems (CPS) operate in dynamic environments, leading to different types of uncertainty. This work provides a comprehensive review of uncertainty representations and categorizes them based on the dimensions used to represent…
To incorporate the computation and communication with the physical world, next generation architecture i.e. CPS is viewed as a new technology. To improve the better interaction with the physical world or to perk up the electricity delivery…
Cyber-Physical Systems (CPS) consist of distributed engineered environments where the monitoring and surveillance tasks are governed by tightly integrated computing, communication and control technologies. CPS are omnipresent in our…
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…
Principles of modern cyber-physical system (CPS) analysis are based on analytical methods that depend on whether safety or liveness requirements are considered. Complexity is abstracted through different techniques, ranging from stochastic…
This study evaluates the application of a discrete action space reinforcement learning method (Q-learning) to the continuous control problem of robot inverted pendulum balancing. To speed up the learning process and to overcome technical…
Maintaining system stability and accurate position tracking is imperative in networked robotic systems, particularly for haptics-enabled human-robot interaction. Recent literature has integrated human biomechanics into the stabilizers…
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…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
The inverted pendulum is a non-linear unbalanced system that needs to be controlled using motors to achieve stability and equilibrium. The inverted pendulum is constructed with Lego and using the Lego Mindstorm NXT, which is a programmable…
In Cyber Physical Systems (CPSs), two groups of actors interact toward the maximization of system performance: the sensors, observing and disseminating the system state, and the actuators, performing physical decisions based on the received…
We continue to consider the question of what language features are needed to effectively model cyber-physical systems (CPS). In previous work, we proposed using a core language as a way to study this question, and showed how several basic…
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…
The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…