Biped robots have specific dynamical constraints and stability problems which reduce significantly their motion range. In these conditions, motion planning used for mobile robots cannot be applied to biped robots. In this paper, the path planning problem is seen as finding a sequence of footholds in a 3D environment, keeping robot stability, motion continuity and working within the structural c...

In this paper, real-time fine motion control of a nonholonomic mobile robot is investigated, where the robot dynamics is completely unknown and is subject to significant uncertainties. A novel neural network based real-time controller is developed. The neural network assumes a single layer structure, by taking advantage of the robot regressor dynamics that express the highly nonlinear robot dyn...

We propose an efficient and powerful alternative for adaptation of human motions to humanoid robots keeping the bipedal stability. For achieving a stable and robust whole body motion of humanoid robots, we design a biologically inspired control framework based on neural oscillators. Entrainments of neural oscillators play a key role to adapt the nervous system to the natural frequency of the in...

An amphibious spherical robot capable of motion on land as well as underwater is developed to implement the complicated underwater operations in our previous research. In order to improve the speed performance of the spherical robot on a slope or comparatively smooth terrains, we propose a new rollerskating mode for the robot by equipping a passive wheel on each leg to implement the roller-skat...

Successful execution of many robotic tasks requires precise control of robot motion and its interaction with the environment. In robotics these two problems are mainly studied separately in the domain of robot motion generation and interaction control, respectively. Existing approaches rely on two control loops: a motion generator (planner) that provides a reference trajectory in the outer loop...

In this paper, the application of receding horizon control to a two-link direct drive robot arm is demonstrated. Instead of the terminal constraints, a terminal cost on receding horizon control is used to guarantee the stability, because of the computational demand. The key idea of this paper is to apply the receding horizon control with the terminal cost which is derived from the energy functi...

The dynamics model considering payload eccentricity and friction effects of an omni-directional mobile robot is first derived using Lagrange’s equation. Based on the dynamics model with uncertainty, a stable adaptive fuzzy control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term and a fuzzy fun...

This paper introduces an adaptive fuzzy-neural control (AFNC) utilizing sliding mode-based learning algorithm (SMBLA) for robot manipulator to track the desired trajectory. A traditional sliding mode controller is applied to ensure the asymptotic stability of the system, and the fuzzy rule-based wavelet neural networks (FWNNs) are employed as the feedback controllers. Additionally, a novel adap...

This paper presents a novel concept of mobility that provides dynamic stability and rapid locomotion. The concept, called Gyrover, is a single-wheel, gyroscopically stabilized robot that can be considered as a single wheel actuated by a spinning flywheel attached to a two-link manipulator at the wheel bearing and drive motor. The spinning flywheel acts as a gyroscope to stabilize the robot, and...

A novel method of Zero-Moment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances. A compensating torque is injected into the ankle-joint of the foot of the robot to improve stability. The value of the compensating torque is computed from the reading of the force sensors located at the four corners of each foot. The effectiv...