نتایج جستجو برای: Biped Robots

تعداد نتایج: 39739  

Mohammad Farrokhi, Mohsen Parsa

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...

Journal: :international journal of robotics 0
mohammad farrokhi iran university of science and technology mohsen parsa iran university of science and technology

this paper employs nonlinear disturbance observer (ndo) for robust trajectory-free nonlinear model predictive control (nmpc) of biped robots. the ndo is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. in contrary to the slow-varying disturbances, handling sudden pushing ...

2012
Xianxin Ke Jinwu Qian Zhenbang Gong

In this increasingly aging society, the needs for robots to assist human activities in daily environments such as offices, homes, and hospitals are growing rapidly. In such environments originally designed for human beings, biped robots, which have almost the same mechanisms as a human, present many advantages than wheeled robots like obstacle avoidance capabilities for its possibility of disco...

2012
Karthik Kappaganthu C. Nataraj

Legged robots have been studied and developed for a long time. The primary advantage of legged motion is that they can traverse terrains inaccessible to wheeled robots. Biped robots are probably the most complicated of legged robots. Despite their complexity there has been a substantial amount of work done in the field including different techniques that have been developed to model, design and...

Journal: :international journal of robotics 0
saeed mansouri isfahan university of technology mohammad jafar sadigh isfahan university of technology

stability and performance are two main issues in motion of bipeds. to ensure stability of motion, a biped needs to follow specific pattern to comply with a stability criterion such as zero moment point. however, there are infinity many patterns of motion which ensure stability, so one might think of achieving better performance by choosing proper parameters of motion. step length and step perio...

Journal: :journal of computational applied mechanics 0
majid khadiv center of excellence in robotics and control, advanced robotics & automated systems (aras) laboratory, department of mechanical engineering, k. n. toosi university of technology, tehran, iran. s. ali. a moosavian center of excellence in robotics and control, advanced robotics & automated systems (aras) laboratory, department of mechanical engineering, k. n. toosi university of technology, tehran, iran.

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...

2007
Sung Jin Yoo Jin Bae Park Yoon Ho Choi

Abstract: This paper presents a robust control method via the intelligent adaptive backstepping design technique for stable walking of nine-link biped robots with unknown model uncertainties and external disturbances. In our control structure, the self recurrent wavelet neural network (SRWNN) which has the information storage ability is used to observe the uncertainties of the biped robots. The...

2002
Jean-Matthieu Bourgeot Nathalie Cislo Bernard Espiau

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...

2001
Jong Hyeon Park Ohung Kwon

Biped robots are expected to walk on many di erent and previous unknown terrains, and thus they may walk on a slippery surface with low friction with no information on the surface a priori. Any fall-down due to unexpected slipping could costly damage the robot and thus should be avoided. This paper proposes a re ex control method for biped robots to quickly recover their posture from a slip soo...

2007
Muhammad Saad Saleem Ibrahim A. Sultan

Different approaches have been briefly overviewed which have been used in stability of biped robots. Current implementations either mimic human behavior or use heuristic control. This paper suggests the use of modelfree crisp control in operational space configuration for better control and understanding of kino-dynamic systems and biped robots.

نمودار تعداد نتایج جستجو در هر سال

با کلیک روی نمودار نتایج را به سال انتشار فیلتر کنید