Conference Paper
Uniform regulation of a multisection continuum manipulator
Clemson Univ., SC
DOI: 10.1109/ROBOT.2002.1014759 Conference: Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, Volume: 2 Source: IEEE Xplore

Conference Paper: A weighted error controller for a class of distributed parameter systems
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ABSTRACT: The paper treats the control problem of a class of distributed parameter systems described by hyperbolic partial differential equations. The controllers are obtained using the concept of boundary geometric control and a weighted error control technique. A control algorithm is proposed and the stability is analyzed. Then, for a dynamic model with uncertain components, a robust algorithm based on weighted error Sliding Mode Control is discussed. Numerical simulations are also provided to verify the effectiveness of the presented approach.Control Conference (ASCC), 2013 9th Asian; 01/2013  [Show abstract] [Hide abstract]
ABSTRACT: Biomechanical properties of squid suckers were studied to provide inspiration for the development of sucker artefacts for a robotic octopus. Mechanical support of the rings found inside squid suckers was studied by bending tests. Tensile tests were carried out to study the maximum possible sucking force produced by squid suckers based on the strength of sucker stalks, normalized by the sucking areas. The squid suckers were also directly tested to obtain sucking forces by a special testing arrangement. Inspired by the squid suckers, three types of sucker artefacts were developed for the arm skin of an octopus inspired robot. The first sucker artefact made of knitted nylon sheet reinforced silicone rubber has the same shape as the squid suckers. Like real squid suckers, this type of artefact also has a stalk that is connected to the arm skin and a ring to give radial support. The second design is a straight cylindrical structure with uniform wall thickness made of silicone rubber. One end of the cylinder is directly connected to the arm skin and the other end is open. The final design of the sucker has a cylindrical base and a concave meniscus top. The meniscus was formed naturally using the surface tension of silicone gel, which leads to a higher level of the liquid around the edge of a container. The wall thickness decreases towards the tip of the sucker opening. Sucking forces of all three types of sucker artefacts were measured. Advantages and disadvantages of each sucker type were discussed. The final design of suckers has been implemented to the arm skin prototypes.Journal of Bionic Engineering 12/2012; 9(4):484–493. · 1.33 Impact Factor  [Show abstract] [Hide abstract]
ABSTRACT: This paper treats the control problem of a class of hyperredundant robots. The dynamic model of the arm is described by hyperbolic partial differential equations with uncertain components. By using a spatial weighted error control, the infinite dimensional system control becomes a finitedimensional control problem. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and a spatial weighted error control technique. A robust algorithm that is based on weighted error sliding mode control is discussed. The boundary tendon control determines the system evolution toward a prescribed switching surface, and in order to avoid the oscillations around the switching surface, a damping control determines a direct evolution, along the switching surface, toward the origin. Numerical simulations and experimental results are also provided to verify the effectiveness of the presented approach.IEEE Transactions on Robotics 08/2013; 29(4):10431050. · 2.65 Impact Factor
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