Pursh Recovery for Humanoid Robots Using Linearized Double Inverted Pendulum - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Pursh Recovery for Humanoid Robots Using Linearized Double Inverted Pendulum write by Saurav Singh. This book was released on 2020. Pursh Recovery for Humanoid Robots Using Linearized Double Inverted Pendulum available in PDF, EPUB and Kindle. "Biped robots have come a long way in imitating a human being's anatomy and posture. Standing balance and push recovery are some of the biggest challenges for such robots. This work presents a novel simplified model for a humanoid robot to recover from external disturbances. The proposed Linearized Double Inverted Pendulum, models the dynamics of a complex humanoid robot that can use ankle and hip recovery strategies while taking full advantage of the advances in controls theory research. To support this, an LQR based control architecture is also presented in this work. The joint torque signals are generated along with ankle torque constraints to ensure the Center of Pressure stays within the support polygon. Simulation results show that the presented model can successfully recover from external disturbances while using minimal effort when compared to other widely used simplified models. It optimally uses the the torso weight to generate angular momentum about the pelvis of the robot to counter-balance the effects of external disturbances. The proposed method was validated on simulated `TigerBot-VII', a humanoid robot."--Abstract.
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Human-Inspired Balancing and Recovery Stepping for Humanoid Robots write by Kaul, Lukas Sebastian. This book was released on 2019-05-15. Human-Inspired Balancing and Recovery Stepping for Humanoid Robots available in PDF, EPUB and Kindle. Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.
Toward Humanoid Robots: The Role of Fuzzy Sets
Toward Humanoid Robots: The Role of Fuzzy Sets - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Toward Humanoid Robots: The Role of Fuzzy Sets write by Cengiz Kahraman. This book was released on 2021-04-04. Toward Humanoid Robots: The Role of Fuzzy Sets available in PDF, EPUB and Kindle. This book offers a comprehensive reference guide for modeling humanoid robots using intelligent and fuzzy systems. It provides readers with the necessary intelligent and fuzzy tools for controlling humanoid robots by incomplete, vague, and imprecise information or insufficient data, where classical modeling approaches cannot be applied. The respective chapters, written by prominent researchers, explain a wealth of both basic and advanced concepts including fuzzy control, metaheuristic-based control, neutrosophic control, etc. To foster reader comprehension, all chapters include relevant numerical examples or case studies. Taken together, they form an excellent reference guide for researchers, lecturers, and postgraduate students pursuing research on humanoid robots. Moreover, by extending all the main aspects of humanoid robots to its intelligent and fuzzy counterparts, the book presents a dynamic snapshot of the field that is expected to stimulate new directions, ideas, and developments.
RiTA 2020
RiTA 2020 - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook RiTA 2020 write by Esyin Chew. This book was released on 2021-09-05. RiTA 2020 available in PDF, EPUB and Kindle. This book gathers the Proceedings of the 8th International Conference on Robot Intelligence Technology and Applications (RITA 2020). The areas covered include: Instrumentation and Control, Automation, Autonomous Systems, Biomechatronics and Rehabilitation Engineering, Intelligent Systems, Machine Learning, Mobile Robotics, Social Robotics and Humanoid Robotics, Sensors and Actuators, and Machine Vision, as well as Signal and Image Processing. As a valuable asset, the book offers researchers and practitioners a timely overview of the latest advances in robot intelligence technology and its applications.
Automatic Control, Robotics, and Information Processing
Automatic Control, Robotics, and Information Processing - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Automatic Control, Robotics, and Information Processing write by Piotr Kulczycki. This book was released on 2020-09-03. Automatic Control, Robotics, and Information Processing available in PDF, EPUB and Kindle. This book presents a wide and comprehensive range of issues and problems in various fields of science and engineering, from both theoretical and applied perspectives. The desire to develop more effective and efficient tools and techniques for dealing with complex processes and systems has been a natural inspiration for the emergence of numerous fields of science and technology, in particular control and automation and, more recently, robotics. The contributions gathered here concern the development of methods and algorithms to determine best practices regarding broadly perceived decisions or controls. From an engineering standpoint, many of them focus on how to automate a specific process or complex system. From a tools-based perspective, several contributions address the development of analytic and algorithmic methods and techniques, devices and systems that make it possible to develop and subsequently implement the automation and robotization of crucial areas of human activity. All topics discussed are illustrated with sample applications.
