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

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


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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
 
Click to see author's profile on See more information about the author on SCOPUS SCOPUS, See more information about the author on IEEE Xplore IEEE Xplore, See more information about the author on Web of Science Web of Science

Download PDF pdficon (953 KB) | Citation | Downloads: 1,135 | Views: 4,514

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
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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

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Cited-By CrossRef

SCOPUS® Times Cited: 34
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Cited-By CrossRef

[1] 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]

[2] Dynamically stable walk control of biped humanoid on uneven and inclined terrain, Sun, Zhenglong, Roos, Nico, Neurocomputing, ISSN 0925-2312, 2017.
Digital Object Identifier: 10.1016/j.neucom.2017.08.077
[CrossRef]

[3] 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]

[4] 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]

[5] 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]

[6] 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]

[7] 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]

[8] 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]

[9] 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]

[10] 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]

[11] 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]

[12] 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]

[13] 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]

[14] Designing the legs of a hexapod robot, Nitulescu, Mircea, Ivanescu, Mircea, Nguyen, Van Dong Hai, 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]

[15] 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]

[16] 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]

[17] 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]

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Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania


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