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The 2012 International Conference on Advanced Mechatronic Systems最新文献

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Development of slide type inspection robot using flexible pneumatic cylinder 采用柔性气缸的滑动式检测机器人的研制
The 2012 International Conference on Advanced Mechatronic Systems Pub Date : 2012-10-15 DOI: 10.1504/IJAMECHS.2013.055996
Lin Wang, T. Akagi, S. Dohta, T. Kawasaki
{"title":"Development of slide type inspection robot using flexible pneumatic cylinder","authors":"Lin Wang, T. Akagi, S. Dohta, T. Kawasaki","doi":"10.1504/IJAMECHS.2013.055996","DOIUrl":"https://doi.org/10.1504/IJAMECHS.2013.055996","url":null,"abstract":"In this study, we aim to develop the flexible mobile mechanism for an inspection robot. In our previous study, we proposed and tested the flexible sliding mechanism using a novel flexible pneumatic cylinder. The mechanism can be driven even if the cylinder bends. In this paper, the improvement of the sliding mechanism so that it can travel into a narrower space will be described. The flexible bending mechanisms for changing the direction of the robot are also proposed and tested. As a result, the tested robot can also travel in the narrow space smoothly by sliding the claw unit with the slide stage as an inchworm.","PeriodicalId":168495,"journal":{"name":"The 2012 International Conference on Advanced Mechatronic Systems","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126373597","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
3D quasi-passive walking of bipedal robot with flat feet-quasi-passive walker driven by antagonistic pneumatic artificial muscle- 双足平足机器人三维准被动行走-拮抗气动人工肌肉驱动的准被动行走器
The 2012 International Conference on Advanced Mechatronic Systems Pub Date : 2012-10-15 DOI: 10.1504/IJAMECHS.2013.055997
H. Watanabe, S. Fujimoto, K. Kawamoto
{"title":"3D quasi-passive walking of bipedal robot with flat feet-quasi-passive walker driven by antagonistic pneumatic artificial muscle-","authors":"H. Watanabe, S. Fujimoto, K. Kawamoto","doi":"10.1504/IJAMECHS.2013.055997","DOIUrl":"https://doi.org/10.1504/IJAMECHS.2013.055997","url":null,"abstract":"In this paper, We develop three-dimensional quasi-passive walker with flat feet driven by an antagonistic pneumatic artificial muscle. An antagonistic mechanism is constituted by a pair of McKibben muscles. And an antagonistic pneumatic system is used as joint actuators of linkage mechanisms which control the torque, joint stiffness and position simultaneously. However, it is more difficult to control the pneumatic actuator than a usual electric motor. Therefore, we also examined the structure of an ankle and the control method of an antagonistic pneumatic system. As a result, a three-dimensional quasi-passive walking is realizable by means of adjusting the stiffness of an ankle joint. From experimental results of quasi-passive walking, the average gait were obtained with the travel distance 1350 mm, the stride of a step 90 mm, and the number of steps 15 steps. It was demonstrated that the quasi-passive walking is stabilized when both the robotic motions in a lateral plane and in a sagittal plane are synchronized.","PeriodicalId":168495,"journal":{"name":"The 2012 International Conference on Advanced Mechatronic Systems","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121704943","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
ELM-based parallel compensation control for perturbed plants with hysteresis using robust right coprime factorization 鲁棒右素数分解摄动滞后对象的elm并联补偿控制
The 2012 International Conference on Advanced Mechatronic Systems Pub Date : 2012-10-15 DOI: 10.1541/IEEJEISS.133.1930
Changan Jiang, M. Deng
{"title":"ELM-based parallel compensation control for perturbed plants with hysteresis using robust right coprime factorization","authors":"Changan Jiang, M. Deng","doi":"10.1541/IEEJEISS.133.1930","DOIUrl":"https://doi.org/10.1541/IEEJEISS.133.1930","url":null,"abstract":"In this paper, for compensating the effect of hysteretic nonlinearity which precedes perturbed plants, an Extreme Learning Machine (ELM) based parallel compensator is designed by using properties between play and stop hysteresis operators. Based on the compensated perturbed plants, operator-based feedback controllers and tracking controllers are designed to guarantee the output tracking performance by using robust right coprime factorization. Finally, the numerical simulation results are presented to validate the effectiveness of the proposed method.","PeriodicalId":168495,"journal":{"name":"The 2012 International Conference on Advanced Mechatronic Systems","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124150814","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Optimal filtering for linear continuous-time Markovian jump systems with non-Gaussian noises by MPT approach 含非高斯噪声的线性连续马尔可夫跳跃系统的MPT最优滤波
The 2012 International Conference on Advanced Mechatronic Systems Pub Date : 2012-10-15 DOI: 10.1504/IJAMECHS.2013.055261
G. Nakura
{"title":"Optimal filtering for linear continuous-time Markovian jump systems with non-Gaussian noises by MPT approach","authors":"G. Nakura","doi":"10.1504/IJAMECHS.2013.055261","DOIUrl":"https://doi.org/10.1504/IJAMECHS.2013.055261","url":null,"abstract":"In this paper we study the optimal filtering problems for a class of linear continuous-time Markovian jump systems with non-Gaussian noises by MPT (most probable trajectory) approach. The systems are described by the switching systems with Markovian mode transitions. In this paper we consider both cases (A) the modes are accessible and (B) the modes are inaccessible. The necessary and sufficient conditions for the solvability of the optimal filtering problems are given by coupled Riccati differential equations with initial conditions. Finally we give numerical examples.","PeriodicalId":168495,"journal":{"name":"The 2012 International Conference on Advanced Mechatronic Systems","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124498682","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A position control of 2 DOF flexible link robot arms based on computed torque method 基于计算力矩法的二自由度柔性连杆机器人手臂位置控制
The 2012 International Conference on Advanced Mechatronic Systems Pub Date : 2012-10-15 DOI: 10.1541/IEEJEISS.133.1129
M. Sawada, K. Itamiya
{"title":"A position control of 2 DOF flexible link robot arms based on computed torque method","authors":"M. Sawada, K. Itamiya","doi":"10.1541/IEEJEISS.133.1129","DOIUrl":"https://doi.org/10.1541/IEEJEISS.133.1129","url":null,"abstract":"Our group has proposed a tip position control method [13] which can be applied to both a flexible link robot arm and a rigid link robot arm. It can be regarded as a natural extension of the computed torque method for a rigid link robot arm. It is a nonlinear state feedback control based on an inverse dynamic model (states consist of link angles, deflection angles and those velocities). Also, it is quite different from a PD control and a sliding mode control. However, the discussion of stability and realization of the control system was inadequate in [13]. In this paper, we propose a robust design method which achieves the ultimate boundedness of control error system. Its effectiveness is illustrated by a brief analysis and numerical simulation results.","PeriodicalId":168495,"journal":{"name":"The 2012 International Conference on Advanced Mechatronic Systems","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128152329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
The navigation mobile robot systems using Bayesian approach through the virtual projection method 该导航移动机器人系统采用贝叶斯方法通过虚拟投影法实现
The 2012 International Conference on Advanced Mechatronic Systems Pub Date : 2012-08-01 DOI: 10.6084/M9.FIGSHARE.1502630.V1
L. Vlădăreanu, G. Tont, V. Vlădăreanu, F. Smarandache, L. Căpitanu
{"title":"The navigation mobile robot systems using Bayesian approach through the virtual projection method","authors":"L. Vlădăreanu, G. Tont, V. Vlădăreanu, F. Smarandache, L. Căpitanu","doi":"10.6084/M9.FIGSHARE.1502630.V1","DOIUrl":"https://doi.org/10.6084/M9.FIGSHARE.1502630.V1","url":null,"abstract":"The paper presents the navigation mobile walking robot systems for movement in non-stationary and non-structured environments, using a Bayesian approach of Simultaneous Localization and Mapping (SLAM) for avoiding obstacles and dynamical stability control for motion on rough terrain. By processing inertial information of force, torque, tilting and wireless sensor networks (WSN) an intelligent high level algorithm is implementing using the virtual projection method. The control system architecture for the dynamic robot walking is presented in correlation with a stochastic model of assessing system probability of unidirectional or bidirectional transition states, applying the non-homogeneous/non-stationary Markov chains. The rationality and validity of the proposed model are demonstrated via an example of quantitative assessment of states probabilities of an autonomous robot. The results show that the proposed new navigation strategy of the mobile robot using Bayesian approach walking robot control systems for going around obstacles has increased the robot's mobility and stability in workspace.","PeriodicalId":168495,"journal":{"name":"The 2012 International Conference on Advanced Mechatronic Systems","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116828022","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
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