A Whole-Body Coordinated Motion Control Method for Highly Redundant Degrees of Freedom Mobile Humanoid Robots.

Humanoid robots are becoming a global research focus. Due to the limitations of bipedal walking technology, mobile humanoid robots equipped with a wheeled chassis and dual arms have emerged as the most suitable configuration for performing complex tasks in factory or home environments. To address the high redundancy issue arising from the wheeled chassis and dual-arm design of mobile humanoid robots, this study proposes a whole-body coordinated motion control algorithm based on arm potential energy optimization.

An Adaptive Control Scheme Based on Non-Interference Nonlinearity Approximation for a Class of Nonlinear Cascaded Systems and Its Application to Flexible Joint Manipulators.

Control design for the nonlinear cascaded system is challenging due to its complicated system dynamics and system uncertainty, both of which can be considered some kind of system nonlinearity. In this paper, we propose a novel nonlinearity approximation scheme with a simplified structure, where the system nonlinearity is approximated by a steady component and an alternating component using only local tracking errors. The nonlinearity of each subsystem is estimated independently.

A new route for the syntheses of coordination polymers using magnetic influence: syntheses, crystal structures and fluorescence properties.

Five coordination polymers [TM(absa)(HO)] and [TM(absa)(bipy)(HO)] [TM = Zn (1), Co (2); TM = Zn (3), Co (4), Cu (5); Naabsa = 5,5'-azobissalicylic acid disodium salt; bipy = 4,4'-bipyride] were synthesized by solvent evaporation under a magnetic field. It is evident that magnetic fields bring significant and noticeable changes to the absa ligand orientation and the component movement behaviors to construct coordination polymers. The absa ligands bind to the metal ions in bridging coordination mode through the carboxylate groups, in addition to the bipy molecules adopting bridging modes.

A Predictable Obstacle Avoidance Model Based on Geometric Configuration of Redundant Manipulators for Motion Planning.

When a manipulator works in dynamic environments, it may be affected by obstacles and may cause danger to people around. This requires the manipulator to be able to plan the obstacle avoidance motion in real time. Therefore, the problem solved in this paper is dynamic obstacle avoidance with the whole body of the redundant manipulator.

Real-Time Kinematically Synchronous Planning for Cooperative Manipulation of Multi-Arms Robot Using the Self-Organizing Competitive Neural Network.

This paper presents a real-time kinematically synchronous planning method for the collaborative manipulation of a multi-arms robot with physical coupling based on the self-organizing competitive neural network. This method defines the sub-bases for the configuration of multi-arms to obtain the Jacobian matrix of common degrees of freedom so that the sub-base motion converges along the direction for the total pose error of the end-effectors (EEs). Such a consideration ensures the uniformity of the EE motion before the error converges completely and contributes to the collaborative manipulation of multi-arms.

Dynamic Balance Control of Double Gyros Unicycle Robot Based on Sliding Mode Controller.

This paper presents a doublegyroscope unicycle robot, which is dynamically balanced by sliding mode controller and PD controller based on its dynamics. This double-gyroscope robot uses the precession effect of the double gyro system to achieve its lateral balance. The two gyroscopes are at the same speed and in reverse direction so as to ensure that the precession torque of the gyroscopes does not interfere with the longitudinal direction of the unicycle robot.

A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain.

The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with certain algorithms can provide force information that can help the robot understand the unstructured terrain that it interacts with. This study introduces a complicated leg force sensing system for a hexapod robot that is the same for all six legs.

A design concept of parallel elasticity extracted from biological muscles for engineered actuators.

Series elastic actuation that takes inspiration from biological muscle-tendon units has been extensively studied and used to address the challenges (e.g. energy efficiency, robustness) existing in purely stiff robots.

Double closed-loop cascade control for lower limb exoskeleton with elastic actuation.

Unlike traditional rigid actuators, the significant features of Series Elastic Actuator (SEA) are stable torque control, lower output impedance, impact resistance and energy storage. Recently, SEA has been applied in many exoskeletons. In such applications, a key issue is how to realize the human-exoskeleton movement coordination.