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A biologically inspired approach to feasible gait learning for a hexapod robot

Dominik Belter, Piotr Skrzypczyński (2010)

International Journal of Applied Mathematics and Computer Science

The objective of this paper is to develop feasible gait patterns that could be used to control a real hexapod walking robot. These gaits should enable the fastest movement that is possible with the given robot's mechanics and drives on a flat terrain. Biological inspirations are commonly used in the design of walking robots and their control algorithms. However, legged robots differ significantly from their biological counterparts. Hence we believe that gait patterns should be learned using the...

A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators

Ignacy Dulęba, Michał Opałka (2013)

International Journal of Applied Mathematics and Computer Science

The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well-known Jacobian transpose and Jacobian pseudo-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg-Marquardt method (mLM). Their comparison...

A Lyapunov-based design tool of impedance controllers for robot manipulators

Marco Mendoza, Isela Bonilla, Fernando Reyes, Emilio González-Galván (2012)

Kybernetika

This paper presents a design tool of impedance controllers for robot manipulators, based on the formulation of Lyapunov functions. The proposed control approach addresses two challenges: the regulation of the interaction forces, ensured by the impedance error converging to zero, while preserving a suitable path tracking despite constraints imposed by the environment. The asymptotic stability of an equilibrium point of the system, composed by full nonlinear robot dynamics and the impedance control,...

A multi-agent system based on fuzzy logic applied to RoboCup's environment.

Eugenio Aguirre, Juan Carlos Gámez, Antonio González (2001)

Mathware and Soft Computing

Artificial Intelligent has been applied successfully to many and varied domains. In particular, the recent steps forward which are been producing in the development of dynamic, collaborative, real time and adversarial multi-agent environments are very interesting. In this work, we carry out a proposal, which uses a soccer robot simulator, called TeamBots, that simulates the RoboCup Small'', involved into the RoboCup World Championship''. The objective is to bring a team into operation, even though,...

Application of Fractional Calculus in the Dynamical Analysis and Control of Mechanical Manipulators

Ferreira, N., Duarte, Fernando, Lima, Miguel, Marcos, Maria, Machado, J. (2008)

Fractional Calculus and Applied Analysis

Mathematics Subject Classification: 26A33, 93C83, 93C85, 68T40Fractional Calculus (FC) goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades. In the field of dynamical systems theory some work has been carried out but the proposed models and algorithms are still in a preliminary stage of establishment. This article illustrates several applications of fractional calculus in robot manipulator path planning and control....

Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping

S. Bazeille, D. Filliat (2011)

RAIRO - Operations Research

We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loop-closure detection method based on bags of visual words [A. Angeli, D. Filliat, S. Doncieux and J.-A. Meyer, IEEE Transactions On Robotics, Special Issue on Visual SLAM24 (2008) 1027–1037], which is able to detect when the robot has returned back to a previously visited...

Combining odometry and visual loop-closure detection for consistent topo-metrical mapping

S. Bazeille, D. Filliat (2010)

RAIRO - Operations Research - Recherche Opérationnelle

We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loop-closure detection method based on bags of visual words [A. Angeli, D. Filliat, S. Doncieux and J.-A. Meyer, IEEE Transactions On Robotics, Special Issue on Visual SLAM 24 (2008) 1027–1037], which is able to detect when the robot has returned back to a previously visited...

Dynamic gridmaps: comparing building techniques.

José María Cañas, Vicente Matellán (2006)

Mathware and Soft Computing

Mobile robots need to represent obstacles in their surroundings, even moving ones, to make right movement decisions. For higher autonomy the robot should automatically build such representation from its sensory input. This paper compares the dynamic character of several gridmap building techniques: probabilistic, fuzzy, theory of evidence and histogramic. Two criteria are defined to rank such dynamism in the representation: time to show a new obstacle and time to show a new hole. The update rules...

Fuzzy controller for obstacle-avoidance with a non-holonomous mobile robot.

Uribe 1, Juan Pedro, Joseba Urzelai (1998)

Mathware and Soft Computing

This paper describes the design and development of a sensor based navigation system which makes it possible for a non-holonomous mobile robot to avoid obstacles using information on its environment picked up by a belt of ultrasonic sensors. To control the robot no preliminary information regarding its environment is required, the robot adapts to them through the information gathered on the spot by the ultrasonic sensors and the information released from a spatial memory. The controller, which allows...

Intelligent decision-making system for autonomous robots

Zdzisław Kowalczuk, Michał Czubenko (2011)

International Journal of Applied Mathematics and Computer Science

The paper gives an account of research results concerning a project on creating a fully autonomous robotic decisionmaking system, able to interact with its environment and based on a mathematical model of human cognitive-behavioural psychology, with some key elements of personality psychology included. The principal idea of the paper is focused on the concept of needs, with a certain instrumental role of emotions.

Interval analysis for certified numerical solution of problems in robotics

Jean-Pierre Merlet (2009)

International Journal of Applied Mathematics and Computer Science

Interval analysis is a relatively new mathematical tool that allows one to deal with problems that may have to be solved numerically with a computer. Examples of such problems are system solving and global optimization, but numerous other problems may be addressed as well. This approach has the following general advantages: (a) it allows to find solutions of a problem only within some finite domain which make sense as soon as the unknowns in the problem are physical parameters; (b) numerical computer...

Modelling and control of an omnidirectional mobile manipulator

Salima Djebrani, Abderraouf Benali, Foudil Abdessemed (2012)

International Journal of Applied Mathematics and Computer Science

A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The...

Motion planning in cartesian product graphs

Biswajit Deb, Kalpesh Kapoor (2014)

Discussiones Mathematicae Graph Theory

Let G be an undirected graph with n vertices. Assume that a robot is placed on a vertex and n − 2 obstacles are placed on the other vertices. A vertex on which neither a robot nor an obstacle is placed is said to have a hole. Consider a single player game in which a robot or obstacle can be moved to adjacent vertex if it has a hole. The objective is to take the robot to a fixed destination vertex using minimum number of moves. In general, it is not necessary that the robot will take a shortest path...

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