This paper deals with a multi-mode control architecture for robot navigation while using hybrid control. It presents, an adaptive and flexible mechanism of control which guarantees the stability and the smoothness of the switch between controllers. Moreover, a specific safety mode is proposed and applied on the robot which navigates very close to obstacles. The overall architecture allows to ob...

This project aims to study and provide a method of postural stability control for lamprey and salamander robots during swimming. The robot swimming gait is induced by a central pattern generator (CPG) distributed along the spinal cord. Up to now the robot stability was fixed using surfacing lightweight materials. This research has prospectively explored the possibilities to mimic the vestibular...

We consider Dynamical Systems (DS)-based modeling of a class of robot motions which ends at a given target point, i.e. the so-called point-to-point motions [2], [1], [3]. Typical examples of such motions are reaching out for an object, closing fingers in a particular grasping configuration, stepping motion, etc. When modeling robot point-to-point motions with DS, ensuring stability of the learn...

This paper presents a trajectory tracking control method for nonholonomic mobile robot which is based only on kinematic model. A mobile robot trajectory tracking control method, based on terminal sliding mode control, with asymptotic stability is presented. Based on kinematic model of mobile robot, a terminal sliding mode control law for the angular velocity is proposed to reduce the tracking e...

The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the join...

24 ISSN 1729‐8806, pp. 25‐32 Research on Centroid Position for Stairs Climbing Stability of Search and Rescue Robot Yan Guo1,2, Aiguo Song1, Jiatong Bao1, Huatao Zhang1, and Hongru Tang3 1School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China 2Beckman Institute, University of Illinois at Urbana‐Champaign, Urbana 61801, Illinois, USA 3School of Energy and Pow...

As a biped robot has become more anthropomorphic and performs a various task on behalf of human, the research on biped robots gradually attracts much attention and is progressing dynamically. However, biped robots are difficult to control due to their nonlinear and coupled dynamics. First, Inverted pendulum [1] is applied to interpret some characteristics of human walking. Later, researchers co...

In this paper a revised reinforcement learning method is presented for stability control problems with real-value inputs and outputs. The revised eXtended Classifier System for Real-input and Real-output (XCSRR) controller is designed, which is capable of working at fully real-value environment such as stability control of robots. XCSRR is a novel approach to enhance the performance of classifi...

Throughout the history of technological progress, attempts have been made to build a machine that looks and behaves like humans. This paper presents a semi‐anthropomimetic robot. The robot structure consists of a human‐like upper body mounted on a mobile platform (mobile base, cart). The robot uses the three‐wheeled mobile platform with two driving wheels and on...

Quadrupeds vary their gaits in accordance with their locomotion speed. Such gait transitions exhibit hysteresis. However, the underlying mechanism for this hysteresis remains largely unclear. It has been suggested that gaits correspond to attractors in their dynamics and that gait transitions are non-equilibrium phase transitions that are accompanied by a loss in stability. In the present study...