this paper employs nonlinear disturbance observer (ndo) for robust trajectory-free nonlinear model predictive control (nmpc) of biped robots. the ndo is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. in contrary to the slow-varying disturbances, handling sudden pushing ...

A typical Web Search Engine consists of three principal parts: crawling engine, indexing engine, and searching engine. The present work aims to optimize the performance of the crawling engine. The crawling engine finds new Web pages and updates Web pages existing in the database of the Web Search Engine. The crawling engine has several robots collecting information from the Internet. We first c...

Most docking methods involving a small robot and a station require the docking station to communicate with the robot. Few robots are able to dock with a passive base station. Even fewer can also be “driven” by a bird. This paper presents a novel way for parrot-guided transportation and autonomous docking using range lights and a web camera.

The main goal of this study is to present a scale that classifies crawling systems according to their effectiveness in traversing the “client-side” Hidden Web. To that end, we accomplish several tasks. First, we perform a thorough analysis of the different client-side technologies and the main features of the Web 2.0 pages in order to determine the initial levels of the aforementioned scale. Se...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. during such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. therefore, to design and dev...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

We have designed a teleoperated platform for managing multirobotic experiment. We call this system Teleworkbench [6]. The aim of this system is to provide a tool for managing and analyzing experiments involving one or many minirobots. Thus, by using this system we aim for more e cient resource utilization, in this case robots, and at the same time for providing more access to robots regardless ...

This paper demonstrates a Semantic Web enabled system for collecting and processing sensor data within a rescue environment. The realtime system collects heterogeneous raw sensor data from rescue robots through a wireless sensor network. The raw sensor data is converted to RDF using the Semantic Sensor Network (SSN) ontology and further processed to generate abstractions used for event detectio...