In this chapter, a Recurrent Higher Order Neural Network (RHONN) is used to identify the plant model of discrete time nonlinear systems, under the assumption that all the state is available for measurement. Then the Extended Kalman Filter (EKF) is used to train the RHONN. The applicability of this scheme is illustrated by identification for an electrically driven nonholonomic mobile robot. Trad...

A new type of backbone robot is presented in this paper. The core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. Although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. This design does not suffer from the weaknesses of the continuum design suc...

State–of–the–art approaches to optimal control of contact–rich robot dynamics use smooth approximations of value and policy functions and gradient–based algorithms for improving approximator parameters. Unfortunately, the dynamics of mechanical systems subject to unilateral constraints—i.e. robot locomotion and manipulation—are generally nonsmooth. We show that value and policy functions genera...

Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking and active compliance. In biomechanics applications, inverse dynamics control can approximately determine the net torques applied at anatomical joints that co...

Industrial robot manipulators have become an indispensable means of automation to increase flexibility and productivity. The ever increasing quality standards and new applications impose higher requirements on accuracy, reliability and performance. Due to the complex nonlinear robot dynamics, the design of robot controllers should include accurate dynamic robot models. Robot identification is a...

On-orbit servicing space robot is one of the challenging applications in space robotic field. Main task of the on-orbit space robot involves the tracking, the grasping and the positioning of a target. The dynamics in operational space is useful to achieve such tasks in Cartesian space. The operational space dynamics is a formulation of the dynamics of a complex branching redundant mechanism in ...

Recently many biped walking robots are developed, and almost all the researches about those robots adopt mass-link models to control and referring zero moment point not to fall over while walking. Here we position these conventional control methods as “model-based control”. Features of the method are that the robot moves accurate and rigid at low efficiency. So it is also important to remember ...

Controlling a high degree of freedom humanoid robot arm to be dextrous and compliant in its movements is a critical task in robot control. The dynamics of such flexible and light manipulators have a highly non-linear nature, making analytical closed form solutions using rigid body assumptions inappropriate. In this thesis, we use Locally Weighted Projection Regression to learn online the invers...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...