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An experimental comparison of scattering-based time delay compensation schemes 基于散射的时延补偿方案的实验比较
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628656
Rodrigo Peredo-Cabada, R. Portillo-Vélez, Alejandro Vasquez-Santacruz, L. Marín-Urías
{"title":"An experimental comparison of scattering-based time delay compensation schemes","authors":"Rodrigo Peredo-Cabada, R. Portillo-Vélez, Alejandro Vasquez-Santacruz, L. Marín-Urías","doi":"10.1109/comrob53312.2021.9628656","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628656","url":null,"abstract":"The presence of time delays in the communication channel of bilateral teleoperation systems is a risk for the stability and performance of the system. Many solutions with a scattering wave variable codification approach have been proposed to solve this problem. It is hard to find in the literature fair comparisons of the proposed approaches for time delay compensation. In this work, different wave variable schemes are evaluated in a master-slave teleoperation testbed. The experimental results show the advantages and weaknesses of each scheme according to several parameters and considering the final application of the system.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114297245","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
Gait Synthesis and Biped Locomotion Control of the HRP-4 Humanoid HRP-4型人形机器人的步态合成及两足运动控制
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628845
S. Orozco-Soto, J. M. Ibarra-Zannatha, A. Kheddar
{"title":"Gait Synthesis and Biped Locomotion Control of the HRP-4 Humanoid","authors":"S. Orozco-Soto, J. M. Ibarra-Zannatha, A. Kheddar","doi":"10.1109/comrob53312.2021.9628845","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628845","url":null,"abstract":"The aim of this paper is to present all the phases needed by a humanoid to perform bipedal locomotion, from walking pattern generation to joint control, passing through kinematic and dynamic modeling. All these phases are applied to the HRP-4 humanoid for simulation experiments. Amongst the different gait pattern generation methods, the 3D LIP method is chosen, while to obtain the inverse kinematic model the geometric approach is applied, and the classical Euler-Lagrange method is implemented to derive the dynamics of the planar (Sagittal) biped walking. A feedback linearization control was developed for joint references tracking. Finally, simulation results are obtained to analyze the performance of designed controllers.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124298880","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: 1
Design, Modeling, and Control of a Variable Stiffness Device for Wrist Rehabilitation 腕部康复可变刚度装置的设计、建模和控制
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628734
O. M. Flores, J. H. Lugo, Alejandro González, M. Maya, E. González-Galván, M. Zoppi, A. Cárdenas
{"title":"Design, Modeling, and Control of a Variable Stiffness Device for Wrist Rehabilitation","authors":"O. M. Flores, J. H. Lugo, Alejandro González, M. Maya, E. González-Galván, M. Zoppi, A. Cárdenas","doi":"10.1109/comrob53312.2021.9628734","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628734","url":null,"abstract":"At a point in the future there may be few physical therapists for the number of patients who need treatment. To address the problem, we have created a device that can rehabilitate the wrist movements like flexion/extension and abduction/adduction, in addition to being able to fit either the left or right wrist. This paper presents the design and development of a single degree of freedom (DOF) rehabilitation device driven by a pneumatic Variable Stiffness Actuator (pVSA). This mechanism is intended to rehabilitate and aid with wrist movements. The proposed device is designed to be stationary, placing the patient’s forearm on the device, where he/she grabs a handle.The dynamic model of the apparatus is presented along with a suitable control law. For this, a kinematic analysis of the mechanism and dynamic modeling of the pneumatic cylinder were developed. The pneumatic system allows the control of both the output force and stiffness of the system by pressure control.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115817819","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
State-Feedback Nonlinear H∞ Boundary Control for a Gantry Crane with Flexible Cable 柔性缆索龙门起重机状态反馈非线性H∞边界控制
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628529
L. Aguilar
{"title":"State-Feedback Nonlinear H∞ Boundary Control for a Gantry Crane with Flexible Cable","authors":"L. Aguilar","doi":"10.1109/comrob53312.2021.9628529","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628529","url":null,"abstract":"We have solved the state-feedback nonlinear ${mathcal{H}_infty }$ boundary control to stabilize a flexible cable of a gantry crane. The cable is not assumed rigid; therefore, we represented the cable dynamics as a hyperbolic partial differential equation. We proved the asymptotical stability of the unperturbed closed-loop system through a strict Lyapunov functional. Moreover, we demonstrated the disturbance attenuation level through the ℒ2-gain analysis. We corroborate the theoretical results by numerical simulations developed in a dynamic model of a laboratory gantry crane.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"22 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113973854","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
Fault Diagnosis and Estimation for a Quadrotor UAV 四旋翼无人机故障诊断与估计
2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI: 10.1109/comrob53312.2021.9628677
J. J. Avilés-Espinoza, J. Anzurez-Marín, F. López‐Estrada
{"title":"Fault Diagnosis and Estimation for a Quadrotor UAV","authors":"J. J. Avilés-Espinoza, J. Anzurez-Marín, F. López‐Estrada","doi":"10.1109/comrob53312.2021.9628677","DOIUrl":"https://doi.org/10.1109/comrob53312.2021.9628677","url":null,"abstract":"This paper presents a Fault Detection and Estimation (FDE) scheme for a quadrotor UAV gyroscopic sensor, using a Takagi-Sugeno (TS) model for the rotational dynamics of the vehicle, with an Unknown Input Observer (UIO). The proposed scheme is solved with usage of linear matrix inequalities (LMIs) theory, and validated with nonlinear simulations.","PeriodicalId":191869,"journal":{"name":"2021 XXIII Robotics Mexican Congress (ComRob)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122133454","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: 1
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