نتایج جستجو برای: robot dynamics
تعداد نتایج: 539506 فیلتر نتایج به سال:
A wheeled mobile mechanism with a passive and/or active linkage mechanism for traveling in the outdoor environment is developed and evaluated. In our previous research, we developed a wheeled mobile robot which has six wheels and a passive linkage mechanism, and its maneuverability was experimentally verified. The ability to climb over a 0.20 [m] high bump, which is twice height of the wheel di...
Abstract Quadcopter is the Unmanned Aerial Vehicle that can vertical tack off and landing. its useful platform for many applications in Commercial, civil or military . In this article ,we present the Dynamics and Kinematics model of quadcopter and the effect of forces by introducing two frames on the ground and it’s body, also we design and implement the PID controller t...
This paper describes the dynamics identification of the foot viscoelasticity of humanoid robots. It is important to know correctly dynamics parameters of link and joint which constitute a robot for its simulation and model based control. When walking, humanoids receive impulsive force at each step. Some humanoids have shock absorber and rubber bush in their soles. In simulation, accuracy of ine...
In this paper, dynamic image-based visual servo control approach is designed for an underactuated flying robot tracking a moving target. The objective is to consider the full dynamics of the system to design a vision based controller. Passivity properties of dynamics of perspective image moments in virtual image plane, obtained using inertial information of the robot, are utilized to design a d...
Guided self-organization can be regarded as a paradigm proposed to understand how to guide a self-organizing system towards desirable behaviors, while maintaining its non-deterministic dynamics with emergent features. It is, however, not a trivial problem to guide the self-organizing behavior of physically embodied systems like robots, as the behavioral dynamics are results of interactions amon...
This paper introduces a novel stereo vision based simulation system for a Humanoid Robot. This stereo vision system and robot controller is simulated dynamically and its performance evaluated for a standard humanoid robot benchmark problem. The vision system presented has been tested by simulating the dynamics of the robot system as well as the image processing subsystem. The real-time image pr...
We discuss the algebraic structure of the dynamics of articulated multibody systems and how it may be effectively used in control design. The dynamics has a decomposition consisting of matrix operators satisfying many identities and giving insight into the dynamical system. To show the utility of this formalism, we investigate a disturbance attenuation control problem. We introduce a meaningful...
The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Regarding the former, to properly manage interaction dynamics on the robot control side, an estimati...
In this paper, we present an algorithm for planning and control of legged robot locomotion. Given the desired contact sequence, this method generates gaits and dynamic motions for legged robots without resorting to simplified stability criteria. The method uses direct collocation for searching for solutions within the constraint-consistent subspace defined by the robot’s contact configuration. ...
One of advantages of evolutionary robotics over other approaches is its parallel population search. However, it generally takes an unrealistically long time to evaluate all candidate solutions by using a real robot. Thus, a technique of computer simulation is considered to be one of the most important topics in evolutionary robotics. Although it is quite difficult to provide a precise computer ...
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