| 2/2010 - 26 |
Walking Robots Dynamic Control Systems on an Uneven TerrainVLADAREANU, L.   , TONT, G. , ION, I. , MUNTEANU, M. S. , MITROI, D. |
Extra paper information in    |
| Click to see author's profile in SCOPUS, IEEE Xplore, Web of Science |
Download PDF  (953 KB) | Citation | Downloads: 1,851 | Views: 1,838 |
Author keywords
hybrid position-force control, multi-microprocessor system, robot dynamic control, static and dynamic stability, walking robot control
References keywords
control(15), robot(12), vladareanu(8), robotics(8), force(8), walking(6), systems(6), research(6), position(6), hybrid(6)
Blue keywords are present in both the references section and the paper title.
About this article
Date of Publication: 2010-05-31
Volume 10, Issue 2, Year 2010, On page(s): 145 - 152
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2010.02026
Web of Science Accession Number: 000280312600026
SCOPUS ID: 77954636940
Abstract
The paper presents ZPM dynamic control of walking robots, developing an open architecture real time control multiprocessor system, in view of obtaining new capabilities for walking robots. The complexity of the movement mechanism of a walking robot was taken into account, being a repetitive tilting process with numerous instable movements and which can lead to its turnover on an uneven terrain. The control system architecture for the dynamic robot walking is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The results obtained through simulation and experiments show an increase in mobility, stability in real conditions and obtaining of high performances related to the possibility of moving walking robots on terrains with a configuration as close as possible to real situations, respectively developing new technological capabilities of the walking robot control systems for slope movement and walking by overtaking or going around obstacles. |
| References | | | Cited By |
Web of Science® Times Cited: 29 [View]
View record in Web of Science® [View]
View Related Records® [View]
Updated 2 days, 13 hours ago
SCOPUS® Times Cited: 47
View record in SCOPUS® [Free preview]
View citations in SCOPUS® [Free preview]
Updated 2 days, 13 hours ago
[1] Dynamically stable walk control of biped humanoid on uneven and inclined terrain, Sun, Zhenglong, Roos, Nico, Neurocomputing, ISSN 0925-2312, Issue , 2018.
Digital Object Identifier: 10.1016/j.neucom.2017.08.077 [CrossRef]
[2] Stability Analysis of the Walking Robots Motion, Migdalovici, Marcel, Vlădăreanu, Luige, Baran, Daniela, Vlădeanu, Gabriela, Radulescu, Mihai, Procedia Computer Science, ISSN 1877-0509, Issue , 2015.
Digital Object Identifier: 10.1016/j.procs.2015.09.117 [CrossRef]
[3] An optimal jerk-stiffness controller for gait pattern generation in rough terrain, Aloulou, Amira, Boubaker, Olfa, ROBOMECH Journal, ISSN 2197-4225, Issue 1, Volume 3, 2016.
Digital Object Identifier: 10.1186/s40648-016-0052-4 [CrossRef]
[4] Computer Aided Design of a Hyper-redundant Manipulator, DUMITRU, S., COJOCARU, D., MARGHITU, D., Advances in Electrical and Computer Engineering, ISSN 1582-7445, Issue 4, Volume 13, 2013.
Digital Object Identifier: 10.4316/AECE.2013.04009 [CrossRef] [Full text]
[5] Reduced Base Fuzzy Logic Controller for Robot Actuators<i></i>, Vladareanu, Victor, Schiopu, Paul, Cang, Shuang, Yu, Hong Nian, Applied Mechanics and Materials, ISSN 1662-7482, Issue , 2014.
Digital Object Identifier: 10.4028/www.scientific.net/AMM.555.249 [CrossRef]
[6] Stability and performance analysis of switched linear systems subject to time delays and actuator saturation, Feng, Yiwei, Cai, Yudan, International Journal of Systems Science, ISSN 0020-7721, Issue 12, Volume 49, 2018.
Digital Object Identifier: 10.1080/00207721.2018.1511871 [CrossRef]
[7] Orientation angle based online motion control of an Aldebaran NAO humanoid robot in V-REP software environment using novel sunflower optimization (SFO) algorithm, Gupta, Aanjaney, Adhikari, Rounak, Pandey, Anish, Kashyap, Abhishek Kumar, International Journal of Information Technology, ISSN 2511-2104, Issue 6, Volume 13, 2021.
Digital Object Identifier: 10.1007/s41870-021-00796-7 [CrossRef]
[8] Extension Hybrid Force-Position Robot Control in Higher Dimensions, Vladareanu, Victor, Smarandache, Florentin, Vladareanu, Luige, Applied Mechanics and Materials, ISSN 1662-7482, Issue , 2013.
Digital Object Identifier: 10.4028/www.scientific.net/AMM.332.260 [CrossRef]
[9] A numerical dynamic behaviour model for 3D contact problems with friction, Pop, Nicolae, Vladareanu, Luige, Popescu, Ileana Nicoleta, Ghiţă, Constantin, Gal, Alexandru, Cang, Shuang, Yu, Hongnian, Bratu, Vasile, Deng, Mingcong, Computational Materials Science, ISSN 0927-0256, Issue , 2014.
Digital Object Identifier: 10.1016/j.commatsci.2014.05.072 [CrossRef]
[10] Dynamic Force-Position Control of the Walking Robots Motion on Slope, Vladareanu, Luige, Melinte, Daniel Octavian, Applied Mechanics and Materials, ISSN 1662-7482, Issue , 2012.
Digital Object Identifier: 10.4028/www.scientific.net/AMM.186.98 [CrossRef]
[11] The Optimization of Intelligent Control Interfaces Using Versatile Intelligent Portable Robot Platform, Vladareanu, Victor, Munteanu, Radu I., Mumtaz, Ali, Smarandache, Florentin, Vladareanu, Luige, Procedia Computer Science, ISSN 1877-0509, Issue , 2015.
Digital Object Identifier: 10.1016/j.procs.2015.09.115 [CrossRef]
[12] The Analysis of the Polaroid Optocoupler Mechanical-electrical Sensor, CIURUS, I. M., DIMIAN, M., GRAUR, A., Advances in Electrical and Computer Engineering, ISSN 1582-7445, Issue 4, Volume 10, 2010.
Digital Object Identifier: 10.4316/aece.2010.04005 [CrossRef] [Full text]
[13] Hybrid Force-Position Dynamic Control of the Robots Using Fuzzy Applications, Vladareanu, Luige, Vladareanu, Victor, Schiopu, Paul, Applied Mechanics and Materials, ISSN 1662-7482, Issue , 2012.
Digital Object Identifier: 10.4028/www.scientific.net/AMM.245.15 [CrossRef]
[14] Intelligent extended control of the walking robot motion, Vladareanu, Victor, Schiopu, Paul, Deng, Mingcong, Yu, Hongnian, Proceedings of the 2014 International Conference on Advanced Mechatronic Systems, ISBN 978-1-4799-6381-2, 2014.
Digital Object Identifier: 10.1109/ICAMechS.2014.6911594 [CrossRef]
[15] Advanced intelligent walking robot control through sliding motion control and bond graphs methods, Gal, Ionel-Alexandru, Vladareanu, Luige, Yu, Hongnian, Wang, Hongbo, Deng, Mingcong, 2015 International Conference on Advanced Mechatronic Systems (ICAMechS), ISBN 978-1-4673-7996-0, 2015.
Digital Object Identifier: 10.1109/ICAMechS.2015.7287125 [CrossRef]
[16] Applications of the extension theory in machine learning field, Sandru, Ovidiu Ilie, Vladareanu, Luige, Schiopu, Paul, Sandru, Alexandra, Vladareanu, Victor, Proceedings of the 2013 International Conference on Advanced Mechatronic Systems, ISBN 978-1-4799-2519-3, 2013.
Digital Object Identifier: 10.1109/ICAMechS.2013.6681700 [CrossRef]
[17] Motion analysis of a robot using a dedicated Matlab interface, Manoiu-Olaru, Sorin, Nitulescu, Mircea, Popescu, Dorin, 2014 18th International Conference on System Theory, Control and Computing (ICSTCC), ISBN 978-1-4799-4601-3, 2014.
Digital Object Identifier: 10.1109/ICSTCC.2014.6982476 [CrossRef]
[18] Some mathematical aspects on walking robots stable evolution, Migdalovici, Marcel, Vladareanu, Luige, Vladeanu, Gabriela, Broumi, Said, Baran, Daniela, Smarandache, Florentin, Wang, Hongbo, Feng, Yonfei, 2016 10th International Conference on Software, Knowledge, Information Management & Applications (SKIMA), ISBN 978-1-5090-3298-3, 2016.
Digital Object Identifier: 10.1109/SKIMA.2016.7916220 [CrossRef]
[19] Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform, Vladareanu, Victor, Boscoianu, Corina, Munteanu, Radu I., Yu, Hongnian, Vladareanu, Luige, 2015 20th International Conference on Control Systems and Computer Science, ISBN 978-1-4799-1780-8, 2015.
Digital Object Identifier: 10.1109/CSCS.2015.48 [CrossRef]
[20] Enhanced extenics controller for real time control of rescue robot actuators, Vladareanu, Victor, Schiopu, Paul, Cang, Shuang, Yu, Hongnian, Deng, Mingcong, 2014 UKACC International Conference on Control (CONTROL), ISBN 978-1-4799-5011-9, 2014.
Digital Object Identifier: 10.1109/CONTROL.2014.6915229 [CrossRef]
[21] Robots extension control using fuzzy smoothing, Vladareanu, Victor, Schiopu, Paul, Deng, Mingcong, Proceedings of the 2013 International Conference on Advanced Mechatronic Systems, ISBN 978-1-4799-2519-3, 2013.
Digital Object Identifier: 10.1109/ICAMechS.2013.6681698 [CrossRef]
[22] Modeling and Verification of Humanoid Robot Task Coordination, Fu, Yujian, Drager, Steven, 2014 IEEE 15th International Symposium on High-Assurance Systems Engineering, ISBN 978-1-4799-3466-9, 2014.
Digital Object Identifier: 10.1109/HASE.2014.19 [CrossRef]
[23] The 3D elastic quasi-static contact applied to robots control, Vladareanu, Luige, Gal, Alexandru, Pop, Nicolae, Deng, Mincong, Proceedings of the 2013 International Conference on Advanced Mechatronic Systems, ISBN 978-1-4799-2519-3, 2013.
Digital Object Identifier: 10.1109/ICAMechS.2013.6681699 [CrossRef]
[24] Simulation and implementation of a hexapod configuration using modular robotics, Castillo, Ricardo, Cotera, Mateo, Vargas, German, 2017 Congreso Internacional de Innovacion y Tendencias en Ingenieria (CONIITI), ISBN 978-1-5386-0624-7, 2017.
Digital Object Identifier: 10.1109/CONIITI.2017.8273340 [CrossRef]
[25] Designing the legs of a hexapod robot, Nitulescu, Mircea, Ivanescu, Mircea, Hai Nguyen, Van Dong, Manoiu-Olaru, Sorin, 2016 20th International Conference on System Theory, Control and Computing (ICSTCC), ISBN 978-1-5090-2720-0, 2016.
Digital Object Identifier: 10.1109/ICSTCC.2016.7790651 [CrossRef]
[26] Locomotion strategies over obstacles for a hexapod robot using Matlab, Manoiu - Olaru, Sorin, Nitulescu, Mircea, 2013 17th International Conference on System Theory, Control and Computing (ICSTCC), ISBN 978-1-4799-2228-4, 2013.
Digital Object Identifier: 10.1109/ICSTCC.2013.6688980 [CrossRef]
Updated 2 days, 13 hours ago
Disclaimer: All information displayed above was retrieved by using remote connections to respective databases. For the best user experience, we update all data by using background processes, and use caches in order to reduce the load on the servers we retrieve the information from. As we have no control on the availability of the database servers and sometimes the Internet connectivity may be affected, we do not guarantee the information is correct or complete. For the most accurate data, please always consult the database sites directly. Some external links require authentication or an institutional subscription.
Web of Science® is a registered trademark of Clarivate Analytics, Scopus® is a registered trademark of Elsevier B.V., other product names, company names, brand names, trademarks and logos are the property of their respective owners.
Copyright ©2001-2024
Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
Permission for other use: The copyright owner's consent does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific written permission must be obtained from the Editor for such copying. Direct linking to files hosted on this website is strictly prohibited.
Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.
Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
Permission for other use: The copyright owner's consent does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific written permission must be obtained from the Editor for such copying. Direct linking to files hosted on this website is strictly prohibited.
Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.
