Biped locomotion for humanoid robots is a challenging problem that has come into prominence in recent years. As the degrees of freedom of a humanoid robot approaches to that of humans, the need for a better, robust, flexible and simpler maneuverability becomes inevitable for real or realistic environments. This paper presents a new method of controlling the trajectory of a humanoid robot on the...

kinematic synthesis of a trailing six-member mechanism has been carried out to achieve five precision points of an automotive steering mechanism. the inner wheel can be rotated up to forty five degrees with fair accuracy. results show that the divergent end behavior of ackermann steering mechanism has been overcome by the present mechanism. the work is similar to earlier work by the present aut...

The controlling behaviour of a vehicle is influenced by the performance of its steering system. The steering system consists of steering wheel, steering column, rack and pinion, steering gearbox, and a linkage system. The vehicle is controlled by the behaviour of the steering gear with the spring loaded rack and pinion. This spring loading arrangement consists of yoke nut, spring, and plunger. ...

This paper presents a fine-grain bit-serial reconfigurable VLSI architecture using multiple-valued switch blocks and binary logic modules. Multiple-valued signaling is utilized to implement a compact switch block. A binary-controlled current-steering technique is introduced, utilizing a programmable three-level differential-pair circuit to implement a high-performance low-power arbitrary two-va...

This thesis presents new results in the design and the integration of the active front/rear steering control with front/rear electronic differential in four wheel drive and steering vehicles; an application to vision based autonomous lane keeping control is also deployed. In four wheel steering vehicles it is shown that the lateral speed and yaw rate dynamics can be asymptotically decoupled by ...

Driving a motor vehicle is an inherently complex task that requires robust control to avoid catastrophic accidents. Drivers must maintain their vehicle in the middle of the travel lane to avoid high speed collisions with other traffic. Interestingly, while a vehicle's lane deviation (LD) is critical, studies have demonstrated that heading error (HE) is one of the primary variables drivers use t...