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A Nested-Loop Architecture for Mobile Robot Navigation

Vitor M. Santos, José P. Castro, M. Isabel Ribeiro
2000 The international journal of robotics research  
This paper describes a navigation architecture for mobile robots, structured as a set of nested control loops whose depth is related to their knowledge of the environment and the ability to drive the actuator  ...  Some comparison with existing architectures is carried out throughout the text. The versatility and robustness of the architecture are supported by extensive results.  ...  Acknowledgment This work was supported by the project RESOLV (Reconstruction Using Scanned Laser and Video) of the ACTS Programme, EU.  ... 
doi:10.1177/02783640022068048 fatcat:o26gkhcfcne7li4wxez5opxccy

Motion Control of Industrial Robots in Operational Space: Analysis and Experiments with the PA10 Arm [chapter]

Ricardo Campa, Cesar Ramirez, Karla Camarillo, Victor Santibanez, Israel Soto
2010 Advances in Robot Manipulators  
implementation of two-loop operational space controllers in a PA-10 robot arm which is in our laboratory.  ...  More recently, Camarillo et al. (2008) invoked some results from (Qu & Dorsey, 1991) to the analysis of a two-loop hierarchical controller using the RMRC as the outer loop and the typical PI velocity controller  ...  Stability and robustness analysis of a two layered hierarchical architecture for a closed loop control of robots in the operational space.  ... 
doi:10.5772/9666 fatcat:zsanfrouwjexpfu4p4slzw5kpi

DEVELOPMENT OF INTELLIGENT HYBRID ARCHITECTURE FOR AUTONOMOUS UAV

Mostafa Moussid, Adil Sayouti, Hicham Medromi.
2017 International Journal of Advanced Research  
The resulting nonlinear controller is thus easy to implement and tune, and it guarantees the asymptotic stability of the closed-loop system.  ...  In this part, we present the main steps for designing a hierarchical flight controller using the inner and outer-loop control scheme: when the flight path is laid out, a flight control system is required  ... 
doi:10.21474/ijar01/3196 fatcat:dnntv2qj7rbahbjao5zrq3gawy

DEVELOPMENT OF INTELLIGENT HYBRID ARCHITECTURE FOR AUTONOMOUS UAV

Alaa Bensaid, Adil Sayouti, Hicham Medromi
2020 Zenodo  
To provide UAV with capabilities of autonomous navigation in dynamic real world in uncertain or hostile environment robot control architecture is necessary.  ...  The technological innovation in robotics and in particular aerial vehicle drone-multirotor creates the need not only for advanced automation but also more autonomy, and even intelligence to develop innovative  ...  The resulting nonlinear controller is thus easy to implement and tune, and it guarantees the asymptotic stability of the closed-loop system.  ... 
doi:10.5281/zenodo.3694723 fatcat:6oh5jxy5rraphljyjfckvz7aiq

Cooperative bin-picking with Time-of-Flight camera and impedance controlled DLR lightweight robot III

S Fuchs, S Haddadin, M Keller, S Parusel, A Kolb, M Suppa
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper describes the computer vision algorithms in combination with the sophisticated control schemes of the robot and demonstrates a reliable and robust solution to the chosen problem.  ...  This paper approaches the binpicking issue by applying the latest state-of-the-art hardware components, namely an impedance controlled light-weight robot and a Time-of-Flight camera.  ...  This work has been partially funded by the German Federal Ministry of Education and Research (BMBF) under Contract No. 16SV2298 as part of the project Lynkeus (www.lynkeus-3d.de) and by the Kuka Roboter  ... 
doi:10.1109/iros.2010.5651046 dblp:conf/iros/FuchsHKPKS10 fatcat:jr7k7kfd2naphm3amqan47uqea

Hierarchical Control of Visually-Guided Movements in a 3D-Printed Robot Arm

Adam Matić, Pavle Valerjev, Alex Gomez-Marin
2021 Frontiers in Neurorobotics  
We built a robot arm system with four degrees of freedom, including a visual system for locating the planar position of the hand, joint angle proprioception, and pressure sensing in one point of contact  ...  Here we examined the capabilities of hierarchical feedback control models proposed by W. T. Powers, so far only tested in silico.  ...  We are grateful to Regina Zaghi-Lara for photos of the robot arm.  ... 
doi:10.3389/fnbot.2021.755723 pmid:34776921 pmcid:PMC8589028 fatcat:jj4gvctztngrzf27oafzr2l22u

Planning and control of a teleoperation system for research in minimally invasive robotic surgery

A. Tobergte, R. Konietschke, G. Hirzinger
2009 2009 IEEE International Conference on Robotics and Automation  
This paper introduces the planning and control software of a teleoperation system for research in minimally invasive robotic surgery.  ...  An optimal setup is first planned in virtual reality and then adapted to variations in the operating room. The real time control system is structured in hierarchical layers.  ...  The Four Layer Architecture The signal based control software is organized in different hierarchical layers. A layer is composed of different function based components.  ... 
doi:10.1109/robot.2009.5152512 dblp:conf/icra/TobergteKH09 fatcat:hg4vfxz3j5hfvezghoez53qhmu

Optimal design of CMAC neural-network controller for robot manipulators

Y.H. Kim, F.L. Lewis
2000 IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)  
The adaptive-learning algorithm is derived from Lyapunov stability analysis, so that both system-tracking stability and error convergence can be guaranteed in the closed-loop system.  ...  Simulation results from a two-link robot manipulator show the satisfactory performance of the proposed control schemes even in the presence of large modeling uncertainties and external disturbances.  ...  Since these adaptive learning rules are formulated from the stability analysis of the controlled system, the system performance can be guaranteed for closed-loop control. B.  ... 
doi:10.1109/5326.827451 fatcat:dos4qnrbpbgmrlfwnxwne3drci

A Hierarchical Control Architecture for High-Speed Visual Servoing

Akio Namiki, Koichi Hashimoto, Masatoshi Ishikawa
2003 The international journal of robotics research  
In this paper, we propose a hierarchical control architecture for high-speed visual servoing on the basis of a biological signal interaction model.  ...  The motor control architectures of biological systems have hierarchical structures in which the efferent/afferent signals interact.  ...  However, if we use adaptation for task separation, the stability of the whole system becomes unclear because the closed-loop stability of each subtask will not be sufficient for the stability of the total  ... 
doi:10.1177/027836490302210006 fatcat:lzqcqovwf5hr3lph7376ah5yim

Adaptive Fuzzy Robust Tracking Control Using Human Electromyogram Signals for Elastic Joint Robots

Mahdi Souzanchi-K, Mohammad-R Akbarzadeh-T, Nadia Naghavi, Ali Sharifnezhad, Vahab Khoshdel
2022 Intelligent Automation and Soft Computing  
Lyapunov analysis also shows bounded-input bounded-output stability of the closed-loop system. Finally, the proposed approach is experimentally implemented in the Sport Science Research Institute.  ...  The concurrent use of EMG with the elastic joint arm provides a suitable framework for human-robot interaction.  ...  Acknowledgement: The authors would like to express their gratitude to the Sport Science Research Institute of Iran for providing the facilities to implement the experimental tests in this study.  ... 
doi:10.32604/iasc.2022.023717 fatcat:um7rwg6ivbbjpad2kvzziso36q

Online Gain Adaptation of Whole-Body Control for Legged Robots with Unknown Disturbances

Jaemin Lee, Junhyeok Ahn, Donghyun Kim, Seung Hyeon Bang, Luis Sentis
2022 Frontiers in Robotics and AI  
In turn, we propose a way to adapt feedback gains for stabilizing the controlled system automatically.  ...  Without properly accounting for external forces, the closed-loop control system incorporating WBC may become unstable, and therefore the desired task goals may not be achievable.  ...  The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case. IEEE Robot. Autom.  ... 
doi:10.3389/frobt.2021.788902 pmid:35071334 pmcid:PMC8776656 fatcat:gzz3nekga5anpgninbutjdh6tu

A General Framework for Shared Control in Robot Teleoperation with Force and Visual Feedback [chapter]

Davide Nicolis
2019 SpringerBriefs in Applied Sciences and Technology  
By means of a thorough analysis and practical experiments, this contribution aims at giving a concrete idea of the aspects that need to be considered in the design of a complete control framework for teleoperated  ...  In this scenario, robotics engineers are required to take the human component into account in the robot design and control.  ...  In Sect. 9.2, a robust controller exploiting sliding mode control techniques is proposed for redundant robot manipulators to arbitrarily and reliably assign the robot impedance in the task space and track  ... 
doi:10.1007/978-3-030-32094-2_9 fatcat:v5hssowmxbamdgr7qq4v3xyo7e

Examples of Gibsonian Affordances in Legged Robotics Research Using an Empirical, Generative Framework

Sonia F. Roberts, Daniel E. Koditschek, Lisa J. Miracchi
2020 Frontiers in Neurorobotics  
For example, the specific method of information processing a robot uses might be related to the affordance the robot is designed to exploit via a formal analysis of its control policy.  ...  Under this framework, details of the architecture and environment are related to the emergent behavior of the system via a generative explanation.  ...  ACKNOWLEDGMENTS We are grateful to the primary authors of the reviewed projects: Aaron Johnson, Feifei Qian, Deniz Ilhan, and Vasileios Vasilopoulos.  ... 
doi:10.3389/fnbot.2020.00012 pmid:32153382 pmcid:PMC7044146 fatcat:bfygsyntkrga5mcp2td5usyoau

Class of hierarchical controllers and their blackboard implementations

T. L. SKILLMAN, W. KOHN, D. NGUYEN, C. LING, R. DODHIAWALA
1990 Journal of Guidance Control and Dynamics  
The selection of the layers was based on a retrospective analysis of an ad hoc control system built for the robot.  ...  The two classes of problems to which this architecture has been applied are sensory perception!’ and robot control. '*:!  ... 
doi:10.2514/3.20532 fatcat:442s3zvokjccxagucxmhus6jou

A Planning and Control Framework for Humanoid Systems: Robust, Optimal, and Real-time Performance [article]

Ye Zhao
2017 arXiv   pre-print
This framework constitutes three hierarchical layers: First, we present a robust optimal phase-space planning framework for dynamic legged locomotion over rough terrain.  ...  We pursue a detailed analysis of the distributed controllers where damping feedback effort is executed in proximity to the control plant, and stiffness feedback effort is implemented in a latency-prone  ...  Distributed Operational Space Control of A Mobile Robot As a concept proof of the proposed distributed architecture on a multiaxis mobile platform, a Cartesian space feedback Operational Space Controller  ... 
arXiv:1701.05929v1 fatcat:tqsr6sss3jeudcklibi2x6tjmy
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