Titlebook: Synergetic Cooperation between Robots and Humans; Proceedings of the C Ebrahim Samer El Youssef,Mohammad Osman Tokhi,Leon Conference procee

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Wrench Capability Analysis of a Serial-Parallel Hybrid Leg of a Disney’s Bipedal Robote Walt Disney Company is investing efforts to develop bipedal walking robots. A serial-parallel hybrid leg for a humanoid robot was designed by Disney’s team, consisting of a pair of twin hybrid chains whose main body is a 5-bar linkage. This paper analyzes the wrench capability of a planar version

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Bipedal Walking Robot Control Using PMTG Architecture training time and large number of parameters defining its behavior. In this paper, we propose a method that significantly reduces training time. It is based on the Policy Modulating Trajectory Generator (PMTG) architecture, which uses Central Pattern Generators (CPG) as a gait generator. We tested

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Adaptive Suspension System Position-Force Control of Wheeled Wall-Pressed In-Pipe Climbing Robotventilation pipeline systems. Mathematical equations have been developed that describes the dynamics of a controlled robot movement inside a vertical section of a pipeline. A mathematical model includes a nonlinear model of dry friction, which makes it possible to simulate the slippage of the robot‘

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Observer-Based Control Model Test in Biped Robotry to the robot, one simulation of a robot and one applied on a real robot. The simulation was made in Robot Operating System, a set of libraries that helps in robot development, with Gazebo, an open-source platform of simulation and the real robot was created using a microcontroller, two sensors an

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Neural Control and Learning of a Gecko-Inspired Robot for Aerial Self-rightingself-righting. Researchers have studied this behavior to develop robots that can mimic such an animal locomotor skill. While quadruped robots have achieved impressive self-righting results, they still lack the utilization of a combination of a body, a tail, and legs as found in a sprawling posture a

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Double Gradient Method: A New Optimization Method for the Trajectory Optimization Problemd by cubic splines (problems solved in most cases by stochastic methods) in times like deterministic methods. The proposed Double Gradient Method (DGM) is not affected by the dimensionality of the problem. Comparison of the results with data collected from professional drivers has shown that the DGM

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Planar Motion Control of a Quadruped Robot to move a robot in different environments, it is necessary to properly plan the steps and control its legs. This article considers a quadruped robot with legs modeled using the Euler–Lagrange equations. The robot’s control strategy uses impedance control for each leg with reference trajectories gen

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