1# Library to Find Best eBook for Read
Author : Steven Gerold Northrup
Release : 2001
Genre : Androids
Kind : eBook
Book Rating : /5 ( reviews)
Book Synopsis Biologically-inspired Control of a Humanoid Robot with Non-linear Actuators by : Steven Gerold Northrup
Download or read book Biologically-inspired Control of a Humanoid Robot with Non-linear Actuators written by Steven Gerold Northrup. This book was released on 2001. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Adam Spiers
Release : 2016-05-19
Genre : Technology & Engineering
Kind : eBook
Book Rating : 608/5 ( reviews)
Book Synopsis Biologically Inspired Control of Humanoid Robot Arms by : Adam Spiers
Download or read book Biologically Inspired Control of Humanoid Robot Arms written by Adam Spiers. This book was released on 2016-05-19. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.
Author : George A. Bekey
Release : 2005
Genre : Autonomous robots
Kind : eBook
Book Rating : 782/5 ( reviews)
Book Synopsis Autonomous Robots by : George A. Bekey
Download or read book Autonomous Robots written by George A. Bekey. This book was released on 2005. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the science and practice of autonomous robots that reviews over 300 current systems and examines the underlying technology.
Author : Yunhui Liu
Release : 2011-12-21
Genre : Medical
Kind : eBook
Book Rating : 882/5 ( reviews)
Book Synopsis Biologically Inspired Robotics by : Yunhui Liu
Download or read book Biologically Inspired Robotics written by Yunhui Liu. This book was released on 2011-12-21. Available in PDF, EPUB and Kindle. Book excerpt: Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers in the fields of control engineering, robotics, and biomedical engineering, this text helps readers understand the technology and principles in this emerging field.
Author : Dong Jun Shin
Release : 2011
Genre :
Kind : eBook
Book Rating : /5 ( reviews)
Book Synopsis A New Actuation Approach for Bio-inspired Human-friendly Robots by : Dong Jun Shin
Download or read book A New Actuation Approach for Bio-inspired Human-friendly Robots written by Dong Jun Shin. This book was released on 2011. Available in PDF, EPUB and Kindle. Book excerpt: The increasing demand for physical interaction between humans and robots has led to an interest in robots whose behavior is guaranteed to be safe when they are in close proximity with humans. However, attaining sufficiently high levels of performance while ensuring safety creates formidable challenges in mechanical design, actuation, sensing, and control. To promote safety without compromising performance, a new actuation concept, referred to as hybrid actuation, has been developed. Since low impedance output at high frequencies is essential for robot safety, while optimal passive stiffness is needed for robot performance, the new actuation approach employs a pneumatic artificial muscle as a macro actuator to provide low-frequency torques. Artificial pneumatic muscles provide high force-to-weight ratio and inherent compliance, both of which allow for low impedance actuation. To compensate for the slow and non-linear dynamics of pneumatic actuation, a small electromagnetic actuator collocated at the robot's joint is employed as a mini actuator, which provides high mechanical bandwidth for high performance without increasing the inertia and size of the manipulator. To achieve the appropriate balance between safety and performance, design methodologies were developed that optimally determine key design parameters such as the required mini motor torque capacity, the joint stiffness introduced by an antagonistic pair of muscles, and the pulley radius. Using a testbed, referred to as the Stanford Safety Robot (S2rho), the hybrid actuation was evaluated for position tracking performance, force tracking performance, and impact behavior. The experimental results demonstrate that by significantly improving control performance with the hybrid actuation over performance with pneumatic muscles alone, while reducing the effective inertia significantly, the competing design objectives of safety and performance can be successfully integrated into a single robotic manipulator. As an extension of the hybrid actuation concept, the new design of dual four-degree-of-freedom robotic arms with torso is presented and detailed descriptions of the design are included.
