Fuzzy control of omnidirectional robot

Motion control of an omnidirectional mobile robot

This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. R...

Omnidirectional Control of the Hexapod Robot TigerBug

Motion control of an omnidirectional mobile robot

Fuzzy Omnidirectional Walking Controller for the Humanoid Soccer Robot

Fast and flexible walking is necessary for humanoid robots in the Robocup soccer competition. We propose a new fuzzy-logic control scheme that would enable the robot to realize flexible walking with high standard of stability by restricting the step length and inclining the body of robot to an appropriate logic body control scheme uses the desired walking direction and rotating angle as an inpu...

Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot

In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...