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Stefan cel Mare
University of Suceava
Faculty of Electrical Engineering and
Computer Science
13, Universitatii Street
Suceava - 720229

Print ISSN: 1582-7445
Online ISSN: 1844-7600
WorldCat: 643243560
doi: 10.4316/AECE


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Clarivate Analytics published the InCites Journal Citations Report for 2017. The JCR Impact Factor of Advances in Electrical and Computer Engineering is 0.699, and the JCR 5-Year Impact Factor is 0.674.

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With new technologies, such as mobile communications, internet of things, and wide applications of social media, organizations generate a huge volume of data, much faster than several years ago. Big data, characterized by high volume, diversity and velocity, increasingly drives decision making and is changing the landscape of business intelligence, from governments to private organizations, from communities to individuals. Big data analytics that discover insights from evidences has a high demand for computing efficiency, knowledge discovery, problem solving, and event prediction. We dedicate a special section of Issue 4/2017 to Big Data. Prospective authors are asked to make the submissions for this section no later than the 31st of May 2017, placing "BigData - " before the paper title in OpenConf.

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  2/2010 - 26

Walking Robots Dynamic Control Systems on an Uneven Terrain

VLADAREANU, L. See more information about VLADAREANU, L. on SCOPUS See more information about VLADAREANU, L. on IEEExplore See more information about VLADAREANU, L. on Web of Science, TONT, G. See more information about  TONT, G. on SCOPUS See more information about  TONT, G. on SCOPUS See more information about TONT, G. on Web of Science, ION, I. See more information about  ION, I. on SCOPUS See more information about  ION, I. on SCOPUS See more information about ION, I. on Web of Science, MUNTEANU, M. S. See more information about  MUNTEANU, M. S. on SCOPUS See more information about  MUNTEANU, M. S. on SCOPUS See more information about MUNTEANU, M. S. on Web of Science, MITROI, D. See more information about MITROI, D. on SCOPUS See more information about MITROI, D. on SCOPUS See more information about MITROI, D. on Web of Science
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Download PDF pdficon (953 KB) | Citation | Downloads: 1,172 | Views: 5,481

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

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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

[1] 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

[2] 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.

[3] 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]

[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

[5] 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] [Web of Science Times Cited 44]

[6] 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

[7] 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

[8] 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

[9] 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 105]

[10] 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)

[11] J. Rummel, A. Seyfarth, "Stable Running with Segmented Legs", The International Journal of Robotics Research 2008; 27; 919,
[CrossRef] [Web of Science Times Cited 79]

[12] 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

[13] 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

[14] 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
[CrossRef] [Web of Science Times Cited 104]

[15] 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

[16] 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

[17] 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.

References Weight

Web of Science® Citations for all references: 336 TCR
SCOPUS® Citations for all references: 0

Web of Science® Average Citations per reference: 20 ACR
SCOPUS® Average Citations per reference: 0

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 2019-03-19 06:49 in 48 seconds.

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