|2/2010 - 26|
Walking Robots Dynamic Control Systems on an Uneven TerrainVLADAREANU, L. , TONT, G. , ION, I. , MUNTEANU, M. S. , MITROI, D.
|Click to see author's profile on SCOPUS, IEEE Xplore, Web of Science|
|Download PDF (953 KB) | Citation | Downloads: 1,135 | Views: 4,512|
hybrid position-force control, multi-microprocessor system, robot dynamic control, static and dynamic stability, walking robot control
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
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 «-- Click to see who has cited this paper|
| Raibert M. H., Craig J. J., "Hybrid Position / Force Control of Manipulators", Trans. ASME, J. Dyn. Sys., Meas., Contr., 102, June 1981, pp. 126-133
 H. Zhang and R. P. Paul, "Hybrid Control of Robot Manipulators", in International Conference on Robotics and Automation, IEEE Computer Society, March 1985. St. Louis, Missouri, pp. 602-607.
 H. Zhang, "Kinematic Stability of Robot Manipulators under Force Control", in International Conference on Robotics and Automation, IEEE Robotics and Automation Society, May 1989. Scottsdale, Arizona, pp. 80-85
[CrossRef] [Web of Science Times Cited 4]
 An, C. H., Hollerbach, J. M., T"he Role of Dynamic Models in Cartesian Force Control of Manipulators", The International Journal of Robotics Research, Vol. 8, No. 4, August 1989, pp. 51-71
 Fisher W. D., Mujtaba M. S., "Hybrid Position/Force Control: A Correct Formulation", The International Journal of Robotics Research, Vol. 11, No. 4, August 1992, pp. 299-311
[CrossRef] [SCOPUS Times Cited 43]
 Luige Vladareanu, Ion Ion, Lucian M. Velea, Daniel Mitroi, Alexandru Gal, The Real Time Control of Modular Walking Robot Stability, Recent Advances in Electrical Engineering, A Series of Reference Books and Textbooks, Published by WSEAS Press, Proceedings of the 8th International Conference on Applications of Electrical Engineering (AEE '09), Houston, USA, pp. 179-186, ISSN: 1790-5117 , ISBN: 978-960-474-072-7, ISI Proceedings
 Vladareanu Luige, Open Architecture Systems for the Compliance Robots Control, WSEAS Transactions on Systems, issue 9, Volume 5, September 2006, ISSN 1109-2777, pp. 2243-2249
 Ion Ion, Luige Vladareanu, Radu Muntanu jr., Mihai Munteanu, The Improvement of Structural and Real Time Control Performances for MERO Modular, Advances in Climbing and Walking Robots, Ed. Ming Xie, S. Dubowsky, Published by Word Scientific Publishing, British Library Cataloguing, pp. 252-263, ISBN-13 978-981-270-815-1, ISBN-10 981-270-815-4, 2007
 Jung-Yup Kim, Ill-Woo Park, Jun-Ho Oh, Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor, Springer Science, J. Intell Robot Syst (2007) 48:457-484,
[CrossRef] [Web of Science Times Cited 86] [SCOPUS Times Cited 131]
 L.Vladareanu, A. Curaj, I. Ion, L. M. Velea, M. Munteanu, D. Mitroi, A. Gal, A. Vasile, "Fundamentale and Aplicative Researche for Hybride Force-Position Control of Modular Walking Robots", phase 2/2007, research project no. 263/2007-2010 in the framework of Grants of CNCSIS Program IDEAS, PN II (National Program for Scientific Research and Innovation Technologies)
 J. Rummel, A. Seyfarth, "Stable Running with Segmented Legs", The International Journal of Robotics Research 2008; 27; 919,
[CrossRef] [Web of Science Times Cited 70] [SCOPUS Times Cited 81]
 Vladareanu L., Ion I., Sandru O., Lucian M.Velea, Munteanu Mihai S., "The Actuators Control by Probabilistic Mathematical Modelling", WSEAS Transactions on Systems and Control, Volume 3, 2008, pp. 547-557, pp.11, ISSN: 1991-8763
 Ion I., Vladareanu L., Simionescu I., Vasile A., "The Movement of Modular Walking Robot MERO in the Obstacles' Area", WSEAS Transation on Systems, Vol.7, 2008, pg. 843-856, pp. 14, ISSN 1109-2777
 Yoshikawa T., Zheng X.Z., "Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object", The International Journal of Robotics Research, Vol. 12, No. 3, June 1993, pp. 219-230
 Luige Vladareanu, Ion Ion, Marius Velea, Daniel Mitroi, "The Robot Hybrid Position and Force Control in Multi-Microprocessor Systems", WSEAS Transation on Systems, Issue 1, Vol. 8, 2009, pp. 148-157, ISSN 1109-2777
 Luige Vladareanu1, Gabriela Tont, Ion Ion, Victor Vladareanu, Daniel Mitroi, "Modeling and Hybrid Position-Force Control of Walking Modular Robots", ISI Proceedings, Recent Advances in Applied Mathematics, Harvard University, Cambridge, USA, 2010, pg. 510-518, ISBN 978-960-474-150-2, ISSN 1790-2769
 Yangsheng Xu, Paul R. P., "A Robot Compliant Wrist for Automated Assembly", Proceedings of the IEEE International Conference of Robotics and Automation, pp. 1750-1755, 1990.
Web of Science® Citations for all references: 160 TCR
SCOPUS® Citations for all references: 255 TCR
Web of Science® Average Citations per reference: 9 ACR
SCOPUS® Average Citations per reference: 15 ACR
TCR = Total Citations for References / ACR = Average Citations per Reference
We introduced in 2010 - for the first time in scientific publishing, the term "References Weight", as a quantitative indication of the quality ... Read more
Citations for references updated on 2017-12-12 15:42 in 50 seconds.
Note1: Web of Science® is a registered trademark of Thomson Reuters.
Note2: SCOPUS® is a registered trademark of Elsevier B.V.
Disclaimer: All queries to the respective databases were made by using the DOI record of every reference (where available). Due to technical problems beyond our control, the information is not always accurate. Please use the CrossRef link to visit the respective publisher site.
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.