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Type Synthesis and Kinematic Analysis of a 2-DOF Shape-morphing Wheel Mechanism for Step-overcoming

Youngsoo Kim, Hwa Soo Kim, TaeWon Seo
2021 IEEE Access  
of wheel lobe for smooth step-overcoming, which is obtained using optimal trajectory planning [21] .  ...  Objective trajectories of the wheel radius and the tilting angle of wheel lobe for smooth step-overcoming, which is obtained using optimal trajectory planning [21] .  ...  Based on this mechanism, we implement the proposed 2-DOF motions of the shape-morphing wheel mechanism successfully.  ... 
doi:10.1109/access.2021.3089637 fatcat:2lkt2mfqj5c3royv3f32yjso2e

Task-oriented control of a 9-DoF WMRA system for opening a spring-loaded door task

F. Farelo, R. Alqasemi, R. Dubey
2011 2011 IEEE International Conference on Rehabilitation Robotics  
Redundancy resolution is achieved by optimizing the manipulability measure while the ADL task is being performed.  ...  A 9-Dof wheelchair mounted robotic arm system (WMRA) has been developed to assist wheelchair-bound persons with upper limb motion limitations to perform activities of daily living (ADL) tasks.  ...  Redundancy optimization was also implemented to control 2 separate trajectories in the WMRA system; a primary trajectory for the end-effector, and an optimized secondary trajectory for the wheelchair.  ... 
doi:10.1109/icorr.2011.5975484 pmid:22275682 fatcat:rqep66zdmbht3lfmtn4usd57hu

A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application

Ying Kong, Ruiyang Zhang, Yunliang Jiang, Xiaoyun Xia
2019 Complexity  
Simulation results on the manipulator with three mobile wheels substantiate the timeliness and repetitiveness of the proposed optimization scheme.  ...  To remedy deviations between initial position and desired position of each kinematic joint angle, a special kind of repeatable optimization for kinematic energy minimization based on terminal-time Zhang  ...  In [16] , a near-optimal trajectory planning scheme was proposed for receding-wheeled mobile manipulators.  ... 
doi:10.1155/2019/8642027 fatcat:ldgvntlgrrgytp26zibnszd3im

Table of Contents

2020 IEEE/ASME transactions on mechatronics  
STEP: A New Mobile Platform With 2-DOF Transformable Wheels for Service Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Constrained Time-Optimal Trajectory Planning for Rotorcrafts: Theory and Application to Visual Servoing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/tmech.2020.3012328 fatcat:wbz3thsnnbdxzasfudhlxenvnm

A Head Control Strategy of the Snake Robot Based on Segmented Kinematics

Yunhu Zhou, Yuanfei Zhang, Fenglei Ni, Hong Liu
2019 Applied Sciences  
Compared with the existing head control strategies, our strategy can adapt to different structures of snake robots, whether wheeled or non-wheeled.  ...  To avoid the collision between the body and the ground, a trajectory planning method of the overall body in Cartesian space is proposed.  ...  Abbreviations The following abbreviations are used in this manuscript: DOF degree of freedom ZMP zero-moment point IMU inertia measure unit  ... 
doi:10.3390/app9235104 fatcat:2dx3j3hoenh7xedz22ylicpv5q

Control Strategy for the Pseudo-Driven Wheels of Multi-Wheeled Mobile Robots Based on Dissociation by Degrees-of-Freedom

Huanan Qi, Bo You, Liang Ding, Wenhao Lian, Ye Yuan, Jiayu Li, Haibo Gao
2020 IEEE Access  
wheels, DOF x and DOF y , an approach that was shown to improve the trajectory tracking ability of the WMRs.  ...  PROBLEM DESCRIPTION PDW has free movements in 2 DOFs of the horizontal plane simultaneously to reduce the internal force between the wheels of WMRs largely and optimize energy consumption [18] .  ... 
doi:10.1109/access.2020.3019342 fatcat:papbdjr3bfh3dimhl7zaxk57uu

Trajectory Tracking Control Optimization with Neural Network for Autonomous Vehicles

Samuel Oludare Bamgbose, Xiangfang Li, Lijun Qian
2019 Advances in Science, Technology and Engineering Systems  
Application of the proposed intelligent control scheme to mobile robot navigation was presented for an eightshaped trajectory by optimizing a Lyapunov-based nonlinear controller.  ...  Furthermore, a Linear Quadratic Regulator-based controller was optimized based on the proposed strategy to control the pitch and yaw angles of a 2-Degree-of -Freedom helicopter.  ...  Office of the Under Secretary of Defense for Research and Engineering (OUSD(R&E)) under agreement number FA8750-15-2-0119. The U.S.  ... 
doi:10.25046/aj040121 fatcat:o4tn2rb2j5fztfiq5pplmpi764

Outdoor SLAM Using Monocular Vision-Based Localization with LIDAR-Aided Mapping for service robot in Highway

Shuwen Pan, Yuanyuan Li, Pengying Du, Yan Liu
2021 Converter  
It adapts a new SLAM method which combines lidar and vision information.  ...  The 3-DOF pose provided by lidar is obtained through Cartographer algorithm and the monocular vision SLAM who offers the 6-DOF pose is realized with ORB-SLAM.  ...  Eq.3. 3.2System Model The robot is driven by 4 wheels, as shown in figure 2 .  ... 
doi:10.17762/converter.303 fatcat:3h7bfapobrdz7pmbuwflzcpioa

Trajectory planning of the nursing robot based on the center of gravity for aluminum alloy structure

Libo Zhang, Hanjun Gao, Huichao Xu, Jing Song
2021 Reviews on Advanced Materials Science  
By studying the trajectory planning of a nursing robot under the condition of ZMP constraint, the robot can move safely and optimally along the prescribed trajectory between two working points.  ...  center of gravity stability planning algorithm.  ...  Acknowledgments: My deepest gratitude goes first and foremost to Professor Wang, my supervisor, for his constant encouragement and guidance.  ... 
doi:10.1515/rams-2021-0060 fatcat:kn3wqbq365ghzpv73zri6iuyey

Hierarchical Optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids [article]

Munzir Zafar, Seth Hutchinson, Evangelos A. Theodorou
2018 arXiv   pre-print
The low-level controller plans for shorter horizons while considering more complete dynamics of the system, while the high-level controller plans for longer horizon based on an approximate model of the  ...  In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically balancing themselves on wheels.  ...  So it plans for a trajectory of θ in order to controlẋ.  ... 
arXiv:1810.03074v1 fatcat:7rdwocramrawfdxi33tbekxnuy

Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots [article]

Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter
2021 arXiv   pre-print
The formulation's generality through the simultaneous optimization over the robot's whole-body variables allows for a single set of parameters and makes online gait sequence adaptation possible.  ...  Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions.  ...  ., [55] , transforms the desired motion plan into torque references τ . Fig. 3 .  ... 
arXiv:2010.06322v2 fatcat:7planr6yencoda2us5erlp3dti

Online Sensor Information and Redundancy Resolution Based Obstacle Avoidance for High DOF Mobile Manipulator Teleoperation

Huatao Zhang, Yunyi Jia, Yan Guo, Kui Qian, Aiguo Song, Ning Xi
2013 International Journal of Advanced Robotic Systems  
seven-DOF manipulator and a four-wheel drive mobile base. The experimental results demonstrate the effectiveness of this method.  ...  Toussaint [12] presented an approach to use approximate inference methods for robot trajectory optimization and stochastic optimal control problems.  ...  They are more like off-line path planning methods, rather than online trajectory generation and most of them are single objective and used for manipulators or low DOF mobile manipulators.  ... 
doi:10.5772/56470 fatcat:lb357lhl2jbmxmtpapwm4mm25y

Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm

Zhengcang Chen, Weijia Zhou
2017 Journal of Robotics  
We then adopt a quantum genetic algorithm (QGA) to solve this objective optimization problem to attain the optimized trajectories of the joints and then execute nonholonomic path planning.  ...  At this stage, the path planning problem is converted into a target optimization problem, where the target is a function of the joints.  ...  [15] developed a straight-line trajectory optimization method for a redundant robot with nine degrees of freedom (DOF).  ... 
doi:10.1155/2017/3207950 fatcat:lbgdykjqsng25jeodqt5o4ixpy

An Extensive Review of Mobile Agricultural Robotics for Field Operations: Focus on Cotton Harvesting

Kadeghe G. Fue, Wesley M. Porter, Edward M. Barnes, Glen C. Rains
2020 AgriEngineering  
In this review, we examine opportunities and challenges for 21st-century robotic agricultural cotton harvesting research and commercial development.  ...  The review is divided into four sections: (1) general agricultural robotic operations, where we check the current robotic technologies in agriculture; (2) opportunities and advances in related robotic  ...  However, most methods for path planning are more effective and successful when the number of DOF is optimized to be small enough to achieve the purpose [82] .  ... 
doi:10.3390/agriengineering2010010 fatcat:cphdc5mprzfjznbczgswqpqrk4

Exciting trajectories for extrinsic calibration of mobile robots with cameras

Bogdan Khomutenko, Gaetan Garcia, Philippe Martinet
2017 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)  
The paper presents a method to precompute the optimal (so-called exciting) trajectories for the extrinsic calibration of a mobile robot equipped with the wheel odometry and one or more cameras.  ...  Another convenience of the method is the possibility to reinforce additional constraints, like the visibility of a calibration object and the trajectory feasibility.  ...  In [5] an impact of the trajectories on the calibration quality is mentioned, and a method to compute optimal trajectories for solving the linear part of the calibration, the wheel odometry intrinsic  ... 
doi:10.1109/itsc.2017.8317683 dblp:conf/itsc/KhomutenkoGM17 fatcat:vdbnl4xeara2pmneuocp2nean4
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