Filters








27,601 Hits in 4.3 sec

Motion planning for variable inertia mechanical systems

Elie A. Shammas, Howie Choset, Alfred A. Rizzi, Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage
2006 Unmanned Systems Technology VIII  
In this paper, we address a particular flavor of the motion planning problem, that is, the gait generation problem for underactuated variable inertia mechanical systems.  ...  Finally, we apply our analysis to a novel mechanical system, the variable inertia snakeboard, which is a generalization of the original snakeboard that was previously studied in the literature.  ...  In this paper, we generate gaits for a novel mechanical system, the variable inertia snakeboard, shown in Fig. 1(a) .  ... 
doi:10.1117/12.662341 fatcat:qhyuyr2kybcn5j3lipacogz37i

Motion Planning for Dynamic Variable Inertia Mechanical Systems with Non-holonomic Constraints

Elie A. Shammas, Howie Choset, Alfred A. Rizzi
2018
In this paper, we address a particular flavor of the motion planning problem, that is, the gait generation problem for underactuated variable inertia mechanical systems.  ...  Finally, we apply our analysis to a novel mechanical system, the variable inertia snakeboard, which is a generalization of the original snakeboard that was previously studied in the literature.  ...  In this paper, we generate gaits for a novel mechanical system, the variable inertia snakeboard, shown in Fig. 1(a) .  ... 
doi:10.1184/r1/6555641.v1 fatcat:jbrgsgl7kfacfi7lyblhjbyxy4

Towards a Unified Approach to Motion Planning for Dynamic Underactuated Mechanical Systems with Non-holonomic Constraints

Elie A. Shammas, Howie Choset, Alfred A. Rizzi
2007 The international journal of robotics research  
In this paper, we generalize our prior results in motion analysis to design gaits for a more general family of underactuated mechanical systems.  ...  The main challenge in motion planning for a mixed system is understanding how to separate the geometric and dynamic contributions of motion due to a general gait, thus simplifying gait analysis.  ...  Moreover, the intermediate motions of the variable inertia snakeboard closely match the motions of the simulated system.  ... 
doi:10.1177/0278364907082098 fatcat:uc2elyij6zffzpciezdrf2rk2q

Dynamics modeling and performance analysis of underwater vehicles based on the Boltzmann-Hamel equations approach

Elżbieta Jarzębowska, Michał Cichowski, E. Manoach, S. Stoykov, M. Wiercigroch
2018 MATEC Web of Conferences  
The paper addresses dynamics modeling of underwater vehicles, which are typical examples of variable mass and configuration mechanical systems.  ...  It serves free or constrained variable mass and configuration systems modeling. The example researched in the paper is an underwater vehicle, which is purely inertia-based propelled.  ...  Variable mass systems are of interest in mechanics for a long time and the beginning of its theory is attributed to Mieszczerskii [4] and the beginning of analytical mechanics of these systems is dated  ... 
doi:10.1051/matecconf/201814803005 fatcat:ncqxxtlze5cbph4bmgmr3ij26u

Page 159 of American Society of Civil Engineers. Collected Journals Vol. 119, Issue 2 [page]

1993 American Society of Civil Engineers. Collected Journals  
Thus, the mass moment of inertia in the moving coordinate frame remains constant during the motion.  ...  An essential variable in compliant motion is the generalized force exerted by the end-effector or the bucket of an excavator.  ... 

Research on Optimal Sliding Mode Pose Control for a Six-DOF Air-Bearing Simulation Platform System

Yun He, Zhigang Xu, Mingyi Yang, Yongli Xu, Junyi Wang
2015 IFAC-PapersOnLine  
This control methods could also eliminate the influence that the big load inertia ratio and the uncertain factors of the air-bearing pose control system had on the control precision.  ...  This control methods could also eliminate the influence that the big load inertia ratio and the uncertain factors of the air-bearing pose control system had on the control precision.  ...  The experiment system is shown infigure 4. Fig. 5 . 5 The planned motion track when the roller is in the normal pose.  ... 
doi:10.1016/j.ifacol.2015.12.067 fatcat:ynbtp5ff6baexf2n4gsmrlflea

Shape space planner for shape-accelerated balancing mobile robots

Umashankar Nagarajan, Ralph Hollis
2013 The international journal of robotics research  
The planner can handle systems with more shape variables than position variables, and can also handle cases where a subset of the shape variables is artificially constrained.  ...  Experimental results are shown on the ballbot with arms where different desired position space motions are achieved by tracking shape space motions of either body lean angles, or arm angles or combinations  ...  The authors owe great thanks to Byungjun Kim for designing and building the arms for the ballbot and also developing controllers for the same.  ... 
doi:10.1177/0278364913495424 fatcat:5aiq344hovgexbvnpnk73rrzei

Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems

F. Bullo, K.M. Lynch
2001 IEEE Transactions on Robotics and Automation  
We introduce the notion of kinematic controllability for second-order underactuated mechanical systems.  ...  The results in this paper form the basis for efficient collision-free trajectory planning for a class of underactuated mechanical systems including manipulators and vehicles in space and underwater environments  ...  ACKNOWLEDGMENT The authors would like to thank the reviewers for their many comments on improving the exposition.  ... 
doi:10.1109/70.954753 fatcat:pdr2v3iekzbnhk7eww47acotkm

Page 2241 of Mathematical Reviews Vol. , Issue 91D [page]

1991 Mathematical Reviews  
This paper is an extension of the authors’ previous research in motion planning for a robot.  ...  The proposed method can be extended to deal with motion planning for multiple manipulators. W. A.  ... 

Inertia Matching Manipulability and Load Matching Optimization for Humanoid Jumping Robot

Zhaohong Xu, Tiansheng Lü, Xuyang Wang
2012 International Journal of Advanced Robotic Systems  
Human jumping motion includes stance phase, flight phase and landing impact phase. Jumping robot belongs to a variable constraints system because every phase has different constraint conditions.  ...  A 5th order polynomial function is defined to plan COG trajectory of jumping motion, taking into account the constraint conditions of both velocity and acceleration.  ...  Figure 3 shows a one DOF geared mechanism, the equation of motion is Inertia Matching for geared mechanism   2 ip op ip I I q      (10) Where ip I denotes the inertia of the input link, op  ... 
doi:10.5772/50916 fatcat:rrs7ypqlcngydb3u2xjqppokwq

On the design of reactionless 3-DOF planar parallel mechanisms

Abbas Fattah, Sunil K. Agrawal
2006 Mechanism and Machine Theory  
Detailed mathematical model, motion planning and simulation results for a numerical example are presented towards the end of the paper.  ...  Also, this design results in a large number of links for each leg and adds complexity by added masses and inertia to the system.  ...  The total angular momentum of the system vanishes using two approaches: (i) through proper choice of inertia and geometric parameters, (ii) using appropriate motion planning.  ... 
doi:10.1016/j.mechmachtheory.2005.04.005 fatcat:a5zi74pybrglrmk23h73amjytu

Adaptive Direct Teaching Control with Variable Load of the Lower Limb Rehabilitation Robot (LLR-II)

Xincheng Wang, Hongbo Wang, Xinyu Hu, Yu Tian, Musong Lin, Hao Yan, Jianye Niu, Li Sun
2021 Machines  
the foundation for future work.  ...  In addition, there is a lack of attention on combining direct teaching function with rehabilitation robots, which enables physiotherapists to plan trajectories directly.  ...  Based on the physiotherapist's instruction, and sensing system's feedback, the central control system guides the motion control system to complete tasks of planning and training.  ... 
doi:10.3390/machines9080142 fatcat:hr6mv7lrybgcvg57g2zf7ww3ku

Page 5814 of Mathematical Reviews Vol. , Issue 2001H [page]

2001 Mathematical Reviews  
planning rolling motions for dexterous robot hands.” 2001h:70017 70E60 Saramago, Sezimaria F.  ...  In order to achieve all potential benefits, a deeper understanding of these types of systems and more practical algo- rithms for planning and controlling their motions are necessary.  ... 

Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning [chapter]

S. Briot, V. Arakelian, N. Sauvestre, J. -P. Le Baron
2010 ROMANSY 18 Robot Design, Dynamics and Control  
The aim of the new approach is the optimal path planning of the robot links centre of masses, which allows a considerable reduction of the variable inertia forces transmitted to the robot frame.  ...  This paper deals with the problem of shaking force balancing of high-speed robots based on a new optimal trajectory planning approach.  ...  A new field for their applications is the design of mechanical systems for fast manipulation, which is a topical problem in advanced robotics.  ... 
doi:10.1007/978-3-7091-0277-0_36 fatcat:a5utnluezfcpjdstkuzv7fokeq

Dynamic Modeling and Motion Planning for Marionettes: Rigid Bodies Articulated by Massless Strings

Elliot Johnson, Todd D. Murphey
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
Finally, an expansive-space tree (EST) motion planner is used to find a path from an input configuration to a goal for a puppet arm with seven degrees of freedom.  ...  Marionettes are highly under-actuated systems that can only be controlled remotely by moving strings.  ...  Arts for their ongoing contributions to this project.  ... 
doi:10.1109/robot.2007.363808 dblp:conf/icra/JohnsonM07 fatcat:trnmjtctkzdt5dkznhunxj4yly
« Previous Showing results 1 — 15 out of 27,601 results