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Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach 被引量:1
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作者 Yunjun Zheng Jinchuan Zheng +3 位作者 Ke Shao Han Zhao Hao Xie Hai Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第4期1007-1021,共15页
The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-base... The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances. 展开更多
关键词 Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control
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A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems
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作者 Pingfan Liu Shaocheng Tong 《Journal of Automation and Intelligence》 2024年第2期111-118,共8页
This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. ... This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach. 展开更多
关键词 Underactuated wheeled mobile robots system FINITE-TIME Fuzzy adaptive fault-tolerant control OUTPUT-FEEDBACK Intermittent actuator faults
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Robust simultaneous tracking and stabilization of wheeled mobile robots not satisfying nonholonomic constraint 被引量:5
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作者 祝晓才 董国华 +1 位作者 蔡自兴 胡德文 《Journal of Central South University of Technology》 EI 2007年第4期537-545,共9页
A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified f... A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified framework.The design procedure was based on the transverse function method and Lyapunov redesign technique.The Lie group was also introduced in the design.The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2).Then,a bounded transverse function was constructed,by which a corresponding smooth embedded submanifold was defined.With the aid of the group operation,a smooth control law was designed,which fulfills practical tracking/stabilization of the nominal system.An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique.The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances.Simulations were provided to demonstrate the effectiveness of the robust unified controller. 展开更多
关键词 wheeled mobile robot robust control Lie group transverse function Lyapunov redesign
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Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots
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作者 YU Wenyong School of Mechanical Engineering,Huazhong University of Science & Technology,Wuhan 430074,China, 《武汉理工大学学报》 CAS CSCD 北大核心 2006年第S3期861-866,共6页
A control strategy for real-time target tracking for wheeled mobile robots is presented.Using a modified Kalman filter for environment perception,a novel tracking control law derived from Lyapunov stability theory is ... A control strategy for real-time target tracking for wheeled mobile robots is presented.Using a modified Kalman filter for environment perception,a novel tracking control law derived from Lyapunov stability theory is introduced.Tuning of linear velocity and angular velocity with mechanical constraints is applied.The proposed control system can simultaneously solve the target trajectory prediction,real-time tracking,and posture regulation problems of a wheeled mobile robot.Experimental results illustrate the effectiveness of the proposed tracking control laws. 展开更多
关键词 wheeled mobile robots motion CONTROL dynamic TRACKING
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Design of Bionic Deformable Planetary-Wheeled Robots
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作者 金晓怡 祝保领 +2 位作者 张立强 韩旺 李博雅 《Journal of Donghua University(English Edition)》 EI CAS 2014年第3期235-239,共5页
In order to improve the robot's obstacle-climbing capability,a new bionic deformable planetary-wheeled robot based on the modular design was proposed. It mainly consisted of planetary wheels to surmount obstacles,... In order to improve the robot's obstacle-climbing capability,a new bionic deformable planetary-wheeled robot based on the modular design was proposed. It mainly consisted of planetary wheels to surmount obstacles,a transformable chassis and an averagely segmentation body. The mobile system of the robot was mainly designed while considering the chassis transformability; a deformable four-bar linkage was adopted,which could realize the robot's wheelbase conversion from storing to driving. To improve the wheels' capability of obstacle-climbing,planetary wheels were adopted. At the same time,passive adaptation to various terrains was considered in the body design and an averaging system was included,which ensured that the planetary wheels could land simultaneously in rugged grounds. The robot's steering mode was analyzed and its kinematics model was built,which provided the theoretical evidence for studying the robot motion control. 展开更多
关键词 planetary-wheeled robot transformable chassis averaging system kinematics model
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Motion mechanism and gait planning of a wheeled micro robot 被引量:1
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作者 于会涛 马培荪 何冬青 《Journal of Southeast University(English Edition)》 EI CAS 2006年第2期191-195,共5页
Based on a novel shape memory alloy (SMA) actuator, a micro worming robot is presented. The robot adopts a wheeled moving mechanism. The principle of the robot's enlarged pace is introduced, and the structure and m... Based on a novel shape memory alloy (SMA) actuator, a micro worming robot is presented. The robot adopts a wheeled moving mechanism. The principle of the robot's enlarged pace is introduced, and the structure and motion mechanism of the SMA actuator and the wheeled moving mechanism are discussed. The gait about the robot's rectilinear movement and turning movement is also planned. Under the effect of the eccentric wheel self-locking mechanisms and changing-direction mechanisms, the robot can move forward and backward, and turn actively, which overcomes the disadvantages of the traditional SMA micro robots to a certain extent. Furthermore, some experiments on the heating current of the SMA actuator and the robot's motion capability are carded out. 展开更多
关键词 micro robot shape memory alloy actuator wheeled gait planning
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Analytical modeling and multi-objective optimization(MOO) of slippage for wheeled mobile robot(WMR) in rough terrain 被引量:6
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作者 O.A.Ani 徐贺 +2 位作者 薛开 刘少刚 张振宇 《Journal of Central South University》 SCIE EI CAS 2012年第9期2458-2467,共10页
Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots... Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots (AWMR) in rough terrain. A model and analysis of relationship among wheel slippage (S), rotation angle (0), sinkage (z) and wheel radius (r) are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain. 展开更多
关键词 autonomous wheeled mobile robot terramechanics TRACTION motion control soil shear failure drawbar pull
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Three-dimensional Construction and Omni-directional Rolling Analysis of a Novel Frame-like Lattice Modular Robot 被引量:4
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作者 DING Wan WU Jianxu YAO Yan'an 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2015年第4期691-701,共11页
Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and ... Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube(PE-Cube) is proposed. The three-dimensional(3D) expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-Cube with three degrees of freedom(Do Fs) is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator(pneumatic cylinder) is directly adopted to control the PE-Cube. Taking an eight PE-Cube modules' construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-Cube modules' construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-Cube modules' construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-Cube module, construction method, and locomotion analysis enrich the family of the lattice modular robot and provide the instruction to design the lattice modular robot. 展开更多
关键词 modular robot pneumatic expandable cube pneumatic actuation omni-directional rolling binary control strategy
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Optimum Design of Stair-Climbing Robots Using Taguchi Method
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作者 A.Arunkumar S.Ramabalan D.Elayaraja 《Intelligent Automation & Soft Computing》 SCIE 2023年第1期1229-1244,共16页
Environmental issues like pollution are major threats to human health.Many systems are developed to reduce pollution.In this paper,an optimal mobile robot design to reduce pollution in Green supply chain management sy... Environmental issues like pollution are major threats to human health.Many systems are developed to reduce pollution.In this paper,an optimal mobile robot design to reduce pollution in Green supply chain management system.Green supply chain management involves as similating environmentally and eco-nomically feasible solutions into the supply chain life-cycle.Smartness,advanced technologies,and advanced networks are becoming pillars of a sustainable supply chain management system.At the same time,there is much change happening in the logistics industry.They are moving towards a new logistics model.In the new model,robotic logistics has a vital role.The reasons for this change are the rapid growth of the e-commerce business and the shortage of workers.The advantages of using robotic logistics are reduction in human errors,faster delivery speed,better customer satisfaction,more safety for workers,and high workforce adaptability.A robot with rocker-bogie suspension is a six-wheeled mobile platform that has a distinctive potential to keep all wheels on the ground continuously.It has been designed to traverse rough and uneven terrain by distributing the load over its wheels equally.However,there is a limitation to achieving high-speed mobility against vertical barriers.In this research,an optimal design of product delivery wheeled robots for a sustainable supply chain system is proposed to ensure higher adaptability and maximum stability during climbing staircases.The design parameters of the proposed robot are optimized using Taguchi Method.The aim is to get a smooth trajectory of the robot’s center-of-mass.The proposed approach realizes a robot with much-improved stability which can climb over heights more than the size of the wheel(i.e.,3 times the radius of wheels).The results reveal that the modified rocker-bogie system not only increases the stair-climbing capability but also thwarts instability due to overturning of a wheel of the robot. 展开更多
关键词 Green supply chain management robotic logistics stair-climbing wheeled mobile robot optimum design rocker-bogie mechanism taguchi method
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Wheeled foot quadruped robot HITAN-I 被引量:2
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作者 王鹏飞 Sun Lining 《High Technology Letters》 EI CAS 2006年第4期346-350,共5页
In view of the robot running environment, the structure of wheeled foot and quadruped are adopted in this robot system, which combines the priorities of both wheeled robot and legged robot. Based on CAN bus, the two-c... In view of the robot running environment, the structure of wheeled foot and quadruped are adopted in this robot system, which combines the priorities of both wheeled robot and legged robot. Based on CAN bus, the two-class robot control system using multiple controllers and drivers is constructed. At the same time, serial inverse kinematics of swaying leg and parallel inverse kinematics of supporting legs are analyzed independently. The forward gait and turning gait are planned and experiment image is given at last. 展开更多
关键词 wheeled foot robot control system gait planning
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Dynamics and Wheel's Slip Ratio of a Wheel-legged Robot in Wheeled Motion Considering the Change of Height 被引量:13
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作者 DING Xilun LI Kejia XU Kun 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2012年第5期1060-1067,共8页
The existing research on dynamics and slip ratio of wheeled mobile robot (WMR) are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the... The existing research on dynamics and slip ratio of wheeled mobile robot (WMR) are derived without considering the effect of height, and the existing models can not be used to analyze the dynamics performance of the robot with variable height while moving such as NOROS- Ⅱ. The existing method of dynamics modeling is improved by adding the constraint equation between perpendicular displacement of body and horizontal displacement of wheel into the constraint conditions. The dynamic model of NOROS- Ⅱ in wheel motion is built by the Lagrange method under nonholonomic constraints. The inverse dynamics is calculated in three different paths based on this model, and the results demonstrate that torques of hip pitching joints are inversely proportional to the height of robot. The relative error of calculated torques is less than 2% compared with that of ADAMS simulation, by which the validity of dynamic model is verified, Moreover, the relative horizontal motion between fore/hind wheels and body is produced when the height is changed, and thus the accurate slip ratio can not be obtained by the traditional equation. The improved slip ratio equations with the parameter of the vertical velocity of body are introduced for fore wheels and hind wheels respectively. Numerical simulations of slip ratios are conducted to reveal the effect of varied height on slip ratios of different wheels. The result shows that the slip ratios of fore/hind wheels become larger/smaller respectively as the height increases, and as the height is reduced, the reverse applies. The proposed research of dynamic model and slip ratio based on the robot height provides the effective method to analyze the dynamics of WMRs with varying height. 展开更多
关键词 wheel-legged robot DYNAMICS slip ratio change of height nonholonomic constraints
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Adaptive trajectory tracking control of two-wheeled self-balance robot 被引量:1
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作者 秦勇 《High Technology Letters》 EI CAS 2009年第1期38-43,共6页
Wheeled mobile robot is one of the well-known nonholonomic systems. A two-wheeled sell-balance robot is taken as the research objective. This paper carried out a detailed force analysis of the robot and established a ... Wheeled mobile robot is one of the well-known nonholonomic systems. A two-wheeled sell-balance robot is taken as the research objective. This paper carried out a detailed force analysis of the robot and established a non-linear dynamics model. An adaptive tracking controller for the kinematic model of a nonhotonomic mobile robot with unknown parameters is also proposed. Using control Lyapunov function (CLF), the controller's global asymptotic stability has been proven. The adaptive trajectory tracking controller decreases the disturbance in the course of tracking control and enhances the real-time control characteristics. The simulation result indicated that the wheeled mobile robot tracking can be effectively controlled. 展开更多
关键词 wheeled mobile robot adaptive control trajectory tracking asymptotic stability
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Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot 被引量:6
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作者 Lih-Chang Lin Hao-Yin Shih 《Intelligent Control and Automation》 2013年第2期166-179,共14页
The complete dynamics model of a four-Mecanum-wheeled robot considering mass eccentricity and friction uncertainty is derived using the Lagrange’s equation. Then based on the dynamics model, a nonlinear stable adapti... The complete dynamics model of a four-Mecanum-wheeled robot considering mass eccentricity and friction uncertainty is derived using the Lagrange’s equation. Then based on the dynamics model, a nonlinear stable adaptive control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term is included in the control law, and the parameter update law with σ-modification is considered for the uncertainty estimation. Computer simulations are conducted to illustrate the suggested control approach. 展开更多
关键词 Mecanum-wheeled Mobile robot Dynamics Model BACKSTEPPING Adaptive Control LYAPUNOV Stability
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Sensor-less Terrain Estimation and Torque Control of a Wheeled Mobile Robot 被引量:1
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作者 J.D.C.C RATHNAPALA M.U.B JAYATHILAKE +2 位作者 R.M.U.K.H.M.K RATHNAYAKE B.G.L.T SAMARANAYAKE Nalin HARISCHANDRA 《Instrumentation》 2019年第2期41-48,共8页
As unmanned electric wheeled mobile robots have been increasingly applied to high-speed operations in unknown environments,the wheel slip becomes a problem when the robot is either accelerating,decelerating,or turning... As unmanned electric wheeled mobile robots have been increasingly applied to high-speed operations in unknown environments,the wheel slip becomes a problem when the robot is either accelerating,decelerating,or turning at high speed.Ignoring the effect of wheel slip may cause the mobile robot to deviate from the desired path.In this paper a recently proposed method is implemented to estimate the surface conditions encountered by an unmanned wheeled mobile robot,without using extra sensors.The method is simple,economical and needs less processing power than for other methods.A reaction torque observer is used to obtain the rolling resistance torque and it is applied to a wheeled mobile robot to obtain the surface condition in real-time for each wheel.The slip information is observed by comparing the reaction torque of each wheel.The obtained slip information is then used to control the torque of both wheels using a torque controller.Wheel slip is minimized by controlling the torque of each wheel.Minimizing the slip improves the ability of the unmanned electric wheeled mobile robot to navigate in the desired path in an unknown environment,regardless of the nature of the surface. 展开更多
关键词 wheeled Mobile robot Reaction TORQUE OBSERVER DISTURBANCE OBSERVER TERRAIN ESTIMATION
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Mathematical modeling and simulation application for a wheeled mobile robot applied on pipe welding
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作者 薛杨 黄军芬 +1 位作者 黄继强 张翔 《China Welding》 EI CAS 2015年第3期52-57,共6页
A geometric model was built to represent the position relation of a wheeled mobile robot relative to a pipe. The relationship between the deviation of falling off for the robot and the curvature of the pipe was formul... A geometric model was built to represent the position relation of a wheeled mobile robot relative to a pipe. The relationship between the deviation of falling off for the robot and the curvature of the pipe was formulated quantitatively. Based on the relationship, a mathematical model was derived and a fuzzy control algorithm for the robot was developed. Simulations were carried out to confirm the dynamic index and the validity of the mathematical model of the fuzzy control algorithm for seam tracking of pipe welding. Experiments for pipe welding with the mobile robot were also carried out to verify the algorithm, and the results showed that the seam has a good quality with a preferable appearance of weld. 展开更多
关键词 wheeled mobile robot pipe welding deviation of falling off
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Motion design of a hybrid wheeled/legged robot for lunar exploration
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作者 陈学东 田文罡 +1 位作者 李小清 渡边桂吾 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2003年第3期246-249,共4页
The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, a... The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is iHustrated by simulation results. 展开更多
关键词 Lunar exploration robot Quadruped mechanism Mobile mechanism Hybrid wheeled/legged
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Motor Learning Based on the Cooperation of Cerebellum and Basal Ganglia for a Self-Balancing Two-Wheeled Robot
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作者 Xiaogang Ruan Jing Chen Lizhen Dai 《Intelligent Control and Automation》 2011年第3期214-225,共12页
A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learnin... A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions between the basal ganglia and cerebellum. The whole learning system is composed of evaluation mechanism, action selection mechanism, tropism mechanism. The learning signals come from not only the Inferior Olive but also the Substantia Nigra in the beginning. The speed of learning is increased as well as the failure time is reduced with the cerebellum as a supervisor. Convergence can be guaranteed in the sense of entropy. With the proposed motor learning method, a motor learning system for the self-balancing two-wheeled robot has been built using the RBF neural networks as the actor and evaluation function approximator. The simulation experiments showed that the proposed motor learning system achieved a better learning effect, so the motor learning based on the coordination of cerebellum and basal ganglia is effective. 展开更多
关键词 Motor LEARNING CEREBELLUM BASAL GANGLIA OPERANT LEARNING Self-Balancing Two-wheeled robot
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Development of Wheel-Legged Biped Robots:A Review
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作者 Xuefei Liu Yi Sun +7 位作者 Shikun Wen Kai Cao Qian Qi Xiaoshu Zhang Huan Shen Guangming Chen Jiajun Xu Aihong Ji 《Journal of Bionic Engineering》 SCIE EI CSCD 2024年第2期607-634,共28页
The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legg... The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged motion.These robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness exploration.Wheel-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this paper.The hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are analyzed.In summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped robots.Finally,this study discusses the key research directions and development trends for the wheel-legged biped robots. 展开更多
关键词 wheel-legged biped robot wheeled motion Legged motion Control strategy
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Mechanics analysis of a wheelchair robot with wheel-track coupling mechanism 被引量:3
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作者 李敬一 白阳 +2 位作者 靳飞 王冬晓 高学山 《Journal of Beijing Institute of Technology》 EI CAS 2013年第3期301-307,共7页
A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities ... A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel- track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles, centroid projection method is applied to analyze the static stability, stability margin is proposed to provide the stability under some dynamic forces, and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally, the dynamic model of the wheelchair robot based on Lagrange equation is established, which can be a theoretical foundation for the wheelchair control system design. 展开更多
关键词 wheelchair robot wheel/track coupling mechanism centroid projection method sta-bility margin dynamic analysis
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Design and Optimization of Wheel-legged Robot:Rolling-Wolf 被引量:13
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作者 LUO Yang LI Qimin LIU Zhangxing 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2014年第6期1133-1142,共10页
Though the studies of wheel-legged robots have achieved great success, the existing ones still have defects in load distribution, structure stability and carrying capacity. For overcoming these shortcomings, a new kin... Though the studies of wheel-legged robots have achieved great success, the existing ones still have defects in load distribution, structure stability and carrying capacity. For overcoming these shortcomings, a new kind of wheel-legged robot(Rolling-Wolf) is designed. It is actuated by means of ball screws and sliders, and each leg forms two stable triangle structures at any moment, which is simple but has high structure stability. The positional posture model and statics model are built and used to analyze the kinematic and mechanical properties of Rolling-Wolf. Based on these two models, important indexes for evaluating its motion performance are analyzed. According to the models and indexes, all of the structure parameters which influence the motion performance of Rolling-Wolf are optimized by the method of Archive-based Micro Genetic Algorithm(AMGA) by using Isight and Matlab software. Compared to the initial values, the maximum rotation angle of the thigh is improved by 4.17%, the maximum lifting height of the wheel is improved by 65.53%, and the maximum driving forces of the thigh and calf are decreased by 25.5% and 12.58%, respectively. The conspicuous optimization results indicate that Rolling-Wolf is much more excellent. The novel wheel-leg structure of Rolling-Wolf is efficient in promoting the load distribution, structure stability and carrying capacity of wheel-legged robot and the proposed optimization method provides a new approach for structure optimization. 展开更多
关键词 wheel-leg multi-objective optimization Rolling-Wolf hybrid locomotion robot
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