Abstract: This paper addresses the dynamic stabilization problem of a two-wheeled differentially driven nonholonomic mobile robot. The proposed strategy is based on changing the robot control variables from x, y and θ to s and θ, where s represents the robot linear displacement. Using this model, the nonholonomic constraints disappear and we show how the linear control theory can be used to des...

Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

Robust walking under various ground condition is required for application of biped robots. Some researches deal with the biped robot control considering foot slip as [1] and [2]. However, few research deal with recovery control after slip. Our work presents balance recovery trajectory design and disturbance-observer (DOB) based control [3]. Balance recovery trajectory is designed through slip r...

We reinterprete and improve recent results on robust control of robots by the computed method. The methods and ideas used are inspired by 'passivity based' control methods for robot manipulators and lead to a significant increase in freedom of controller implementation, thereby providing more flexibility to the designer of robot control systems.

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

The overall research goal of GMD ́s RoboCup middle-size league team is to increase both, the controlled speed of mobile robots acting as a team in dynamic environments and the speed of the development process for robot control systems. Therefore, GMD started in 1998 to develop a proprietary fast robot platform and in parallel the development of the integrated Dual Dynamics Design Environment. Th...

SUMMARY A hierarchical robot sensory system being developed for industrial robotics is described. At each level of the hicrarchy, sensory intcrpretativc processes are guided by exl~cctancy-enc crating modeling processes. The modeling processes are driven by u priori knowledge (object prototypes). by knowledge of the robot's movements (feed-forward from the control system), and by feedback from ...