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Design and control of an active anti-roll system for a fast rover

M. Krid, F. Benamar
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper proposes a new design, and its associated control, of an active device which improves the stability of fast rover moving up to 10 m/s.  ...  Design and control of an active anti-roll system for a fast rover. 2011 Abstract-Off-road operational conditions require large suspension displacements and a significant clearance between the ground and  ...  This paper presents an innovative mechatronic device which is able to control the roll stability of the rover.  ... 
doi:10.1109/iros.2011.6048606 fatcat:rgqvuzkvsbgstardtlvsmylifu

Off-road Mobile Robot Control: an Adaptive Approach for Accuracy, Integrity [chapter]

R. Lenain, B. Thuilot, N. Bouton, P. Martinet
2013 Romansy 19 – Robot Design, Dynamics and Control  
This paper proposes an algorithm dedicated to the control of off-road mobile robots at high speed.  ...  Next, the dynamic model used for grip condition estimation is considered to address also robot integrity preservation thanks to the velocity limitation. 19th CISM-IFToMM Symposium on Robot Design, Dynamics  ...  A new device dedicated to autonomous mobile robot dynamic stability: application to an off-road mobile robot. pages 3813-3818, 2010. G. Campion, G. Bastin, and B. d' Andréa-Novel.  ... 
doi:10.1007/978-3-7091-1379-0_34 fatcat:azswszzr45bfnmbh5j2r3ydfsy

Telepresence Mobile Robots Design and Control for Social Interaction

Tadele Belay Tuli, Tesfaye Olana Terefe, Md Mamun Ur Rashid
2020 International Journal of Social Robotics  
Hence, this paper presents a systematic design and control approach based on the customer's needs and expectations of telepresence mobile robots for social interactions.  ...  However, human-robot physical interactions are still challenging regarding maneuverability, controllability, stability, drive layout, and autonomy.  ...  Unlike an inverted pendulum where the stability is entirely dependent on the speed of the robot, this design is less dependent on velocity for stability.  ... 
doi:10.1007/s12369-020-00676-3 pmid:32837631 pmcid:PMC7358301 fatcat:isziccuvczbqbemlbmyuxchch4

An Active Stabilizer for Cable-Driven Parallel Robot Vibration Damping

Maximilian Lesellier, Loic Cuvillon, Jacques Gangloff, Marc Gouttefarde
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this paper, vibration damping of CDPRs is addressed by means of an original active stabilizer consisting of actuated rotating arms installed on-board the CDPR mobile platform.  ...  A control strategy for the whole system, which consists of the CDPR and the stabilizer, and with one purpose for eachposition control for the platform and vibration damping for the stabilizer-is designed  ...  Nevertheless, the embedded stabilizer remains efficient in all these simulation cases. VI. CONCLUSIONS In this paper, an original device for active stabilization of a CDPR has been presented.  ... 
doi:10.1109/iros.2018.8594148 dblp:conf/iros/LesellierCGG18 fatcat:g27xushainbsdo7da564ybxv2m

Modelling and Control of Mechatronic and Robotic Systems

Alessandro Gasparetto, Stefano Seriani, Lorenzo Scalera
2021 Applied Sciences  
Nowadays, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia[...]  ...  Acknowledgments: This Special Issue would not be possible without the contributions of various  ...  Several papers in this Special Issue are focused on the design, modelling, and control of mobile robots and systems.  ... 
doi:10.3390/app11073242 fatcat:55bpt5n5yfbtpk4ccmxhkrgrcy

A new device dedicated to autonomous mobile robot dynamic stability: Application to an off-road mobile robot

Nicolas Bouton, Roland Lenain, Benoit Thuilot, Philippe Martinet
2010 2010 IEEE International Conference on Robotics and Automation  
Automation in outdoor applications (farming, surveillance, etc.) requires highly accurate control of mobile robots, at high speed, accounting for natural ground specificities (mainly sliding effects).  ...  In previous work, predictive control algorithms dedicated to All-Terrain Vehicle lateral stability was investigated.  ...  In this paper, this indicator is used as a basis for designing an active anti-rollover device dedicated to mobile robots.  ... 
doi:10.1109/robot.2010.5509561 dblp:conf/icra/BoutonLTM10 fatcat:emg7p2xgvvf3dkxuj2wascbysy

Lateral Stability of a Mobile Robot Utilizing an Active Adjustable Suspension

Hui Jiang, Guoyan Xu, Wen Zeng, Feng Gao, Kun Chong
2019 Applied Sciences  
Furthermore, the models presented here provide theoretical references and optimization directions for the design and control of mobile robots with adjustable suspensions.  ...  This paper investigates the lateral stability of this mobile robot when it reconfigures itself to adjust its roll angle with the active suspension.  ...  ) and the output (stability), providing a theoretical basis for the design and control for mobile robots.  ... 
doi:10.3390/app9204410 fatcat:ivuxhwo3yndctmwdrl35laanca

FROM BIOMECHANICAL CONCEPTS TOWARDS FAST AND ROBUST ROBOTS

D. RENJEWSKI, A. SEYFARTH, P. MANOONPONG, F. WÖRGÖTTER
2008 Advances in Mobile Robotics  
CLAWAR 2008 Special Session "Fast Biped Locomotion" Robots of any kind, highly integrated mechatronic systems, are smart combinations of mechanics, electronics and information technology.  ...  The development of bipedal robots in particular, which perform human-like locomotion, challenges scientists on even higher levels.  ...  The authors would like to appreciate Susanne Lipfert and our other collaborators for providing us the experimental results of human locomotion.  ... 
doi:10.1142/9789812835772_0076 fatcat:ll42yb3axbbvjdc3fcw6uuuqci

Teaching of robotics and control jointly in the University and in the high school based on LEGO Mindstorms NXT

Sergey A. Filippov, Alexander L. Fradkov, Boris Andrievsky
2011 IFAC Proceedings Volumes  
The goal of the project is to create a complex of robotics and mechatronics networked devices (mobile robots, carts, pendulum systems, segways, etc) for application both in universities and in high schools  ...  An interesting and important task is design and testing of proportional, integral and differential controllers.  ...  , and the Program of basic research of OEMPPU RAS #2 "Control and safety in energy and technical systems".  ... 
doi:10.3182/20110828-6-it-1002.00914 fatcat:2sraritzx5fhvf4rydmeqo2eeu

Automatic Sensor Based Wall Painting Robot

Vani Mukundan, Mohamed Sirajudeen K I, Nidhinsha, Sheron B Joseph
2017 Zenodo  
In this paper, the conceptual design of an autonomous wall painting robot is described consisting of an arm that scans the walls vertically and is fitted on a mobile robot base to give the lateral feed  ...  The design objective is to satisfy the criteria of simplicity, low weight, low cost and fast painting time.  ...  Freedom) with an average reach of 1.7m and end effecter payload of 30 kg. It is mounted on 3 wheeled mobile-robot which gives another 3 DOF.  ... 
doi:10.5281/zenodo.269655 fatcat:rtnz7lx2orha3e7z3tmkbhgj6e

A Novel Hybrid Rehabilitation Device for Neuromuscular Control Exercise and Rehabilitation Training

Hadafi Fitri Mohd Latip, Abdul Hafidz Omar, Ardiyansyah Shahrom, Fakhrizal Azmi, Ridhwan
2015 Procedia Computer Science  
W-vibe neuromuscular control ankle rehabilitation device is designed based on the principle of a single leg stance activity.  ...  This w-vibe neuromuscular control ankle rehabilitation device analysis was using Finite Element analysis (FE) to test the safety and reliability of the device.  ...  The authors would also like to thanks to Ministry of Higher Education Malaysia (KPM) for financial support. This project was also grateful for the SLAB KPT scholarship to author 1.  ... 
doi:10.1016/j.procs.2015.12.311 fatcat:bi666hc2ubgm7ghtyagop7vtvi

Ascento: A Two-Wheeled Jumping Robot

Victor Klemm, Alessandro Morra, Ciro Salzmann, Florian Tschopp, Karen Bodie, Lionel Gulich, Nicola Kung, Dominik Mannhart, Corentin Pfister, Marcus Vierneisel, Florian Weber, Robin Deuber (+1 others)
2019 2019 International Conference on Robotics and Automation (ICRA)  
Applications of mobile ground robots demand high speed and agility while navigating in complex indoor environments. These present an ongoing challenge in mobile robotics.  ...  The mechanical design and overall architecture of the system is presented, as well as the development of various controllers for different scenarios.  ...  ACKNOWLEDGMENT The authors would like to acknowledge the generous support of ETH Zurich and the Autonomous Systems Lab (ASL), Swiss Robotics, ANYbotics, Thyssenkrupp, Anewa AG, Maxon Motors, Wyss Zurich  ... 
doi:10.1109/icra.2019.8793792 dblp:conf/icra/KlemmMSTBGKMPVW19 fatcat:ayx54i5otngfbddgls7nw4d3aq

Intuitiveness facilitates Rehabilitation: Clinical results

Ludovic Saint-Bauzel, Viviane Pasqui, Isabelle Monteil
2009 2009 IEEE International Conference on Rehabilitation Robotics  
This article presents how an adapted design of a mechatronics system and its control can lead to an intuitive interface for patients performing sit-to-stand motions.  ...  We focus on the design of a control based on fuzzy rules obtained by an analysis of external interaction forces subjects during motion.  ...  The robotic device presented in this paper is an active mobile base platform with actioned articulated arms and driven by a whole sensors based control.  ... 
doi:10.1109/icorr.2009.5209545 fatcat:nwqlgrh32zcynjplsgaibi7xla

A Reactive Robotized Interface for Lower Limb Rehabilitation: Clinical Results

L. Saint-Bauzel, V. Pasqui, I. Monteil
2009 IEEE Transactions on robotics  
Observation of Center of Pressure, ground forces and horizontal components force on handles yields rules to identify the stability of the patient and to adjust the robotic interface motion to the human  ...  -This article presents clinical results from the use of MONIMAD, a reactive robotized interface for lower limb Rehabilitation of patients suffering from cerebellar disease.  ...  The robotic device presented in this paper is an active mobile base platform with actuated articulated arms and driven by a whole sensors based control.  ... 
doi:10.1109/tro.2009.2019886 fatcat:h7ke3zk4zjeitddtm6yzdmauwm

Unmanned Ground Vehicles for Smart Farms [chapter]

Pablo Gonzalez-De-Santos, Roemi Fernández, Delia Sepúlveda, Eduardo Navas, Manuel Armada
2020 Agronomy [Working Title]  
The latter includes both wheeled and wheel-legged robots and an analysis of their adaptability to terrain and crops.  ...  Two main approaches are discussed: automating conventional vehicles and developing specifically designed mobile platforms.  ...  Acknowledgements The research leading to these results has received funding from (i) RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub ("Robótica aplicada a la mejora de la calidad de vida de  ... 
doi:10.5772/intechopen.90683 fatcat:zfaopuwf6zc6hkivadqhcerd7i
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