In this paper, it is presented a fault-tolerant system based on output feedback H∞ Markovian control for manipulator robots. Firstly, it is shown that with a control strategy based on deterministic nonlinearH∞ approach the stability is guaranteed only if the robot stops completely after the fault detection, and then restarts the movement from zero velocity in an underactuated configuration. Sec...

This paper presents improvements over the Dynamic Window Approach (I-DWA), used for computing in real time autonomous robot navigation. A novel objective function that includes Lyapunov stability criteria is proposed. It allows to guarantee a global and asymptotic convergence to the goal avoiding collisions and resulting in a more simple and self-contained approach. Experimental results with si...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

The study about the swarm-robot system is one of the most important directions of multitudinous robots system. It is an extraordinary challenged issue which how to communicate with each swarm-robot to cooperate together to accomplish a mission in numerous units. The swarm-robot system, which is based on CC2510 wireless sensor network, with the Radio Frequency of FHSS as the communication mode, ...

The trajectory-tracking control of a typical industrial robot with six revolute joints is studied, where the joint flexibility is taken into account. An explicit form of the control law is obtained by using the composite control technique. The stability of system is discussed. The global convergence of tracking error can be reached by tuning the controller parameters. This method has a unique a...

The inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-mome...

This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our controller considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is ...

Methods for modeling, simulating and optimizing the dynamics, stability and performance of legged robot locomotion are discussed in this paper. It is demonstrated how these tools are used in the design, implementation and operation of a humanoid robot. The selection and integration of fundamental hardand software needed for autonomous operation and high agility is presented for a recently devel...

This paper aims to solve a major drawback of walking robots i.e. their inability to react to environmental disturbances while navigating in natural rough terrains. This problem is reduced here by suggesting the use of a hybrid force‐position control based trajectory generation with the impact dynamics into consideration that compensates for the stabilit...

This paper presents a distributed adaptive coordinated control of multiple robot arms grasping a common object that is constrained by known environment. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object r...