CDC2000 Ambulatory Robot Systems

Ambulatory Robot Systems
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	Redundancy Controllable System and Control of Snake Robots Based on Kinematic Model Authors: Fumitoshi Matsuno, Kazutaka Mogi, Volume: 1, Page 4791 Paper number 79 Abstract: In this paper we define the redundancy controllable system and propose control law and structure design methodology of redundant snake robots based on the wheeled link model. We find that introduction of links without wheels and shape controllable points in the snake robot's body makes the system redundancy controllable. In this case the head's velocity of the snake robot does not determine all joint velocities of the robot uniquely. We introduce the cost function related to the measure for the singularity and the manipulability of the system, and construct a controller with considering the redundancy. Using redundancy, it becomes possible to accomplish both the main objective of controlling the position and the posture of the snake robot head and the shape of the snake robot, and the sub-objective of the singular configuration avoidance. From simulation results we find that the crawling motion of the snake robot is natural. CD000079.PDF (From Author) TOP A Control Of Underactuated Hopping Gait Systems: Acrobot Example Authors: Masahiro Miyazaki, Mitsuji Sampei, Masanobu Koga, Akiko Takahashi, Volume: 1, Page 4797 Paper number 2035 Abstract: While many researchers have been working on hopping gait systems, most of the previous works have focused on the mechanism designed by Raibert which has two actuators. In this paper, we consider the acrobot, which has only one actuator as our model of a hopping gait system. In spite of difficulty of realizing acrobot's hopping gait, it produces more interesting and attractive control problems than Raibert's model. Furthermore, the hopping principle of legged systems can be understood by treating the system which is difficult to control by intuition like acrobot. CD002035.PDF (From Author) TOP An Almost Linear Biped Authors: Mark W. Spong, Rogelio Lozano, Robert Manony, Volume: 1, Page 4803 Paper number 1512 Abstract: In this paper we discuss the nonlinear control of a novel biped robot with three-degrees-of-freedom and two control inputs, whose dynamics are linear apart from the gravitational torque and the impact equations. We show that the equations of motion are locally feedback linearizable by nonlinear change of coordinates and nonlinear feedback in a region that includes all walking gates of interest. We combine the feedback linearization control with control of the resulting linear system and the nonlinear impact equations to generate a stable walking gate. CD001512.PDF (From Author) TOP Walking of a Biped Robot with Compliant Ankle Joints: Implementation with KUBCA Authors: Keon Young Yi, Volume: 1, Page 4809 Paper number 2060 Abstract: This paper presents a compliant ankle mechanism and its implementation for a biped robot without actuators for the ankle joints. Ankle joints have been built using springs and mechanical constraints, which give a flexibility of joint within a predefined range and stiffness beyond the range. The biped with compliant ankles proposed here makes foot landing easy, and weight and cost of legs are also reduced. As the cost of the advantages, however, the control problem becomes more difficult because the control torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To overcome this problem, we proposed a pseudo static walking gait with dynamic gait modification method by adjusting the position of a hip joint. Experimental results with the biped KUBCA are given to show the validity of the proposed controller. CD002060.PDF (From Author) TOP Stable Trajectory Tracking for Biped Robots Authors: Luigi Cambrini, Christine Chevallereau, Claude H. Moog, Radoslav Stojic, Volume: 1, Page 4815 Paper number 1490 Abstract: The control of an underactuated biped robots in single support phase can be done choosing a certain number of output functions which are dependent on the state variables, i.e. on angular positions and velocities; the choice of these output functions is that better if they yield the definition of a minimal phase system. In the paper some examples are discussed. It is suggested that the underlying mathematical problem states and solves the problem in a concise manner. This goes through the application of the Pfaff-Darboux Theorem and differential geometric tools. CD001490.PDF (From Author) TOP