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ABSTRACT: Environmental adaptability plays an important role for humanoid robots to expand their applications. Based on force and torque information during foot-ground contact, this paper presents a strategy for humanoid robots to modify preplanned walking pattern by using foot-ground equivalent contact control. Firstly, swing foot landing course is described, then several representative foot-ground contact modes are transformed into an equivalent single point contact mode, and an active compliant theorem based fuzzy controller is designed to realize foot-ground contact control. Combined with procedure of motion planning, method of walking pattern modification is put forward. Finally, simulation of ¿Virtual Blackmann¿ walking on uneven terrain is designed and related results are shown to validate the effectiveness of proposed strategy.
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on; 01/2010
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ABSTRACT: This paper studies the coordinated manipulator and spacecraft motion planning for free-floating space robots (FFSR). The kinematics of the FFSR is analyzed based on momentum conservation law firstly. Then a nonholonomic motion planning, including requirements on spacecraft's orientation and end-effector's position is proposed using the chained form transformation and time-state control form. A planar FFSR with a 2 DOFs manipulator is selected to develop the algorithm. And simulation results illustrate that the position of the end-effector and the spacecraft orientation reach the desired state simultaneously. Finally, deficiencies of the method and prospects for the future are summarized.
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on; 01/2010
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ABSTRACT: Wireless sensor networks (WSNs) are emerging as a new generation of sensor networks. Serving as the backbone of control applications, WSNs will enable an unprecedented degree of distributed and mobile control. In the paper we analyze and design a networked control system where the communication between the sensors, the controller, and the actuator takes place over WSNs. However, WSNs also introduce random delays and packets loss in the feedback loop. We present a state predictive and state estimation based on the extended Kalman filter for the networked control system. The model predictive control with both random delays and packet loss in the feedback loop is introduced. This paper is motivated by many of applications for the mobile controllers during the setup of an experimental NCS. The simulations show that our experimental system which takes the delays and loss into account indeed can perform well in the real applications.
Information and Automation, 2009. ICIA '09. International Conference on; 07/2009
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ABSTRACT: The kinematics of a free-floating space robot(FFSR) is more complex than that of a fixed-base robot, and hence its motion planning is more difficult. In this paper, the kinematics of the FFSR is introduced firstly. Then the null space approach is used to reparameterize the path: the direction and magnitude are decoupled and no direction error is introduced.And the Newton iterative method is adopted to find the optimal magnitude of the joint velocity. A plannar FFSR with a 2 DOFs manipulator is selected to test the algorithm and simulation results illustrate that the path following is realized prisely. Finally, deficiencies of the method and prospecsts forthe future are summarized.
Measuring Technology and Mechatronics Automation, International Conference on. 04/2009; 2:845-848.
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ABSTRACT: Localization is a fundamental problem in wireless sensor networks (WSN). Many applications of WSN and middleware such as router require the sensor nodes to obtain their locations. Most existing localization algorithms use some mobile anchor nodes (e.g., equipped with GPS) to transmit beacons with their own coordinates for localizing other nodes. These algorithms do not need too much cost but obtain higher localization precision according to the mobile path. In the case path planning of the mobile anchor is the fundamental problem to be solved. In this paper we first study the path planning of the mobile anchor in localization for wireless sensor networks using graph theory. We regard wireless sensor networks as a connected undirected graph and then the path planning problem is translated into having a Spanning Tree and traversing graph. The paper proposes Breadth-First (BRF) and Backtracking Greedy (BTG) algorithms for Spanning Tree. The BRF and BTG algorithms provide robust localization for WSN under the random distribution and obtain higher localization precision in the simulations and real experiments.
Information and Automation, 2008. ICIA 2008. International Conference on; 07/2008
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ABSTRACT: A humanoid online motion planning method is proposed using description of selected variables. The proposed method changes humanoid motion planning into planning of several selected variables. And these variables are chosen to reflect the motion state of humanoid robots, including ZMP, Center of Gravity (CoG), Center of Coxa (CoC), foot position and the rotation matrices between some key frames. Then the planning flows of the variables are shown and the dynamical and physical constraints of humanoid walking are considered simultaneously. Finally, efficiency and feasibility of proposed method are validated using kinematics and dynamics simulation, and ongoing and future work is pointed out.
Advanced intelligent mechatronics, 2007 ieee/asme international conference on; 10/2007
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ABSTRACT: The accurate estimations of distances among nodes in wireless sensor networks(WSN) are premises for the accurate estimations of nodes' positions and the accurate reconstruction of the networks' topology. In a complex environment, nodes stochastically move, and the variance of state noise is unknown and variable, and obstacles possibly exist among nodes. Now, the accurate estimations of distances among nodes in the WSN in a complex environment are still unresolved. In this paper, an adaptive Kalman filter(AKF) is used to solve the accurate estimations of distances among nodes in the WSN. Through simulations, the results indicate that the AKF is capable of accurate estimations of distances among nodes. Therefore, the AKF is a very effective method to solve the accurate estimations of distances among nodes in the WSN in a complex environment.
Mechatronics and Automation, 2007. ICMA 2007. International Conference on; 09/2007
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ABSTRACT: Position information of individual nodes is very useful in implementing functions such as routing, querying and many applications. Researchers have proposed several location techniques but only a few relative location algorithms for mobile wireless sensor networks (WSNs). Although mobility would appear to make localization more difficult, this paper introduces a distributed 3 dimension relative localization algorithm for the mobile WSNs. This approach is an effort in finding a solution to positioning problem for highly dynamic nodes deployed randomly in a complex environment and the 3 dimension coordinate provided can be satisfied with great applications. The distributed coordinate transformation algorithm takes lower convergence times in the establishment of the global coordinate system.
Mechatronics and Automation, 2007. ICMA 2007. International Conference on; 09/2007
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ABSTRACT: In this paper, the configuration of humanoid motion control system is brought forward according to the requirement of humanoid structure and control characters. The plan of motion control system, the structure of lower controllers, control algorithm and the ways of data exchange are expatriated in detail. Finally, the efficiency of the control system is proved and the prototype is realized, and the emphasis of our future work is described.
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on; 11/2003
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ABSTRACT: In this paper, we put foreword a kind of embedded control system according to the humanoid robot hand based on AT89C2051, from bionics, and designed a kind of construction according to the humanoid robot hand. Then expatriated how to realize five independent adjustable signals of PWM based on a block of 3×5 cm controlling circuit using 89C2051. We have realized that the movement speed is adjustable, the least response time is T<0.012 ms, and the electromotor least movement scope is 1 degree. We can save 200 action data that have programmed in the controller or controlled by serial communication.
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on; 11/2003
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ABSTRACT: In this paper, we describe the problems of lower limb joint locomotion track planning and upper limb joint angle planning based on the ZMP for a humanoid robot, with present lower limb joint angle formulas. For some lower limb joints, tracks are planned by using some key positions in locomotion. For all upper limb joints and head joints, we use some key angles to plan joint angles. We have analyzed the locomotion stability using the ZMP as stable criterion and presented the optimal function when searching the coax tracks. Then we compute all lower limb joint angles using some lower limb joint tracks. Finally, we give the simulation results.
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on; 11/2003
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ABSTRACT: This paper presents the basic configuration and control method of the humanoid robot Blackmann, which is developed by the Robot Laboratory in the National University of Defense Technology, China. Blackmann is 1.55 meters tall and 63.5 Kg weight with 36 DOFs, and it was designed to be humanlike including two legs, two arms, a trunk and a head. This paper covers the mechanical design, hardware description and motion control schemes of Blackmann, and a kind of dynamical walking control scheme based on FRI point was proposed. Up to now, Blackmann has been built and tested; the embedded control system has been realized and assembled in the body of Blackmann; the basic control schemes based on FRI point and anthropomorphic walking has been realized and further study is in process
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on;
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ABSTRACT: Underactuated bipedal robots are quite useful for researching on high-speed and dynamic bipedal walking. In the last five years, many achievements focused on the gait planning and stabile control of planar underactuated bipedal robots, which were validated through experiment on the physical prototype. But underactuated 3D bipedal robots gradually become a hotspot in this field recently. In this paper, design and analysis of feedback controller for underactuated 3D bipedal robots during the single support phase are proposed. The dynamic model during the single support phase is given. A finite-time feedback controller is designed based on the dynamic model during the single support phase and a simple demonstration of its stability in the sense of Lyapunov is also deduced. Then the comparison of convergence rate between the finite-time feedback controller and classical PD feedback controller is carried out by numerical simulation and the finite-time feedback controller converges in less time than the PD one.
Intelligent Computation Technology and Automation, International Conference on. 1:1119-1122.
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ABSTRACT: This paper presents a newly developed humanoid robot Blackmann by the Robot Laboratory in the National University of Defense Technology, China. Blackmann is 1.55 meters tall and 63.5 Kg weight with 36 DOFs. And it was designed to be human-like including two legs, two arms, a trunk and a head. This paper covers the mechanical design, hardware description and basic motion control schemes of Blackmann. Up to now, Blackmann has been built and tested; the embedded motion control system has been realized and assembled in the body of Blackmann; the basic control schemes based on FRI point are implemented and human-like walking has been realized and further study is in process.
