This paper compares and contrasts two approaches to integrating robot behaviours. Robot behaviours can be produced using neural networks, as illustrated by Braitenberg’s vehicles [Braitenberg, 1984]. Experiments show that homogeneous integration is flawed with a behaviour stability problem and with a scalability problem that makes it difficult to use for large scale, complicated control problem...

In this paper, a networked embedded control of modular robot manipulators without using joint torque sensing is presented. The proposed solution uses an effective control and communication mechanism based on the virtual decomposition control (VDC) approach with embedded FPGA (Field Programmable Gate Array) implementation. A hierarchical master-slaves control structure is used, supported by a hi...

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...

Abstract In this paper, a stability control approach of flexible joint robot (FJR) based T-S fuzzy model using fuzzy Lyapunov function is proposed. First, the Takagi and Sugeno (T-S) fuzzy model is employed to approximate the flexible joint robot, then a fuzzy controller is developed based on parallel distributed compensation principle (PDC). The non-quadratic stability conditions for the flexi...

interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant velocity change which occurs at the time of collision of the biped swing leg with the ground. We first characterize the bipedal walking cycle and point out some major issues that need to be addressed to plan a continuous swing leg trajectory by using the concept of...

Throughout the history of walking robots several static and dynamic stability criteria have been defined. Nevertheless, different applications may require different stability criteria and, up to the authors’ best knowledge, there is no qualitative classification of such stability measurements. Controlling a robot gait by means of using the wrong stability criterion may prevent the task from suc...

On-line full body imitation with a humanoid robot standing on 4 its own two feet requires simultaneously maintaining the balance and imitating 5 the motion of the demonstrator. In this paper we present a method that allows 6 real-time motion imitation while maintaining stability, based on prioritized 7 task control. We also describe a method of modified prioritized kinematic 8 control that cons...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

The control circuit for a single-link manipulator robot constructed on a proportional-diierential controller is considered in the presence of various random nonlinear continuous and discontinuous perturbations. Results on diierent kinds of stability are obtained. Computer simulations of the motion of a robot hand for an actual robot-manipulator are presented.

This paper presents a gait analysis of the equilateral hexagonal model of hexapod robot. Mathematical analysis has been made on mobility, fault-tolerance, and stability. A comparison with the rectangular model of hexapod robot is also given, and it has shown that the hexagonal model shows better turning ability, a higher margin of stability during the fault-tolerant gait, and greater stride len...