Robot Shaping: the Hamster Experiment

Control of Flexible Link Robot using a Closed Loop Input-Shaping Approach

This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a  vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...

Précis of Robot Shaping : An Experiment in Behavior

Design of the 100G Capturing Robot Based on Dynamic Preshaping

In this paper we discuss the design of the 100G capturing robot from the point of view of dynamic pre-shaping where all finger links make contact with the target object simultaneously. After briefly explaining the overview of the 100G capturing robot, we mathematically formulate the dynamic pre-shaping problem where we discuss how to determine the mechanical parameters, such as pulley positions...

Parameters Identification of an Experimental Vision-based Target Tracker Robot Using Genetic Algorithm

In this paper, the uncertain dynamic parameters of an experimental target tracker robot are identified through the application of genetic algorithm. The considered serial robot is a two-degree-of-freedom dynamic system with two revolute joints in which damping coefficients and inertia terms are uncertain. First, dynamic equations governing the robot system are extracted and then, simulated nume...

Damping Path Design for Liquid Container Transferred with Wheeled Mobile Robot Along Multiple Turn Sections

This paper proposes a design method of a damping path for a cylindrical liquid container transferred with a wheeled mobile robot. The damping path is constructed from the acceleration using the principle of an input shaping method. Although a positional error is occurred by using the input shaping method, it is easy to correct the error with the proposed method. The proposed design method can b...