Haptic interfaces for the rescue walking robots motion in the disaster areas

Vlădăreanu, Luige; Melinte, Octavian; Bruja, Adrian; Wang, Hongbo; Wang, Xiaojie; Cang, Shuang; Yu, Hongnian; Hou, Zeng Guang; Xie, Xiao Liang

doi:10.1109/control.2014.6915190

Cited by 14 publications

(6 citation statements)

References 5 publications

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“…Various methods / control strategies are known for dynamic walking of humanoid robots based on the generation of walking models taking into account the stable point trajectory of zero moment point (ZPM) and ensure robot's stability (balance) through real-time control loops ( Fig. 1) [17], [18], [20], [22], [23].…”

Section: Vipro Platform Architecturementioning

confidence: 99%

“…Intelligent heterogeneous robot networks, remotely controlled by humans, do have an increasingly important role in hazardous and challenging environments, where human lives might be at risk. This is in fact the challenge of developing autonomous systems perceptive to human requirements and having the ability of continuous learning, adapting and improving in "real world" complex environments, so as to provide support in natural disasters, fires, or other calamities [20], [21]. The paper presents a VIPRO versatile, intelligent and mobile platform for robots, using an original virtual projection method which involves the representation of modern mobile robots in a 3D virtual…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Versatile Intelligent Portable Robot Platform Developed through Adaptive Neuro-Fuzzy Control

Vlădăreanu¹,

Vlădăreanu²,

Wang³

et al. 2019

IJMO

Self Cite

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The paper presents a VIPRO versatile, intelligent and mobile latform for robots developed through adaptive networked control, using an original virtual projection method which involves the representation of modern mobile robots in a 3D virtual environment. The Cartesian robot workspace, which is learned using an adaptive neuro-fuzzy control for the prediction of desired references was generate. In correlation was used a strong robotic simulator, an open architecture system and adaptive networks over the classical control system of the robot. It was developed an intelligent control interfaces that apply advanced control technologies adapted to the robot environment such as control by artificial intelligence techniques using adaptive neuro-fuzzy inference systems, extended control (extenics), neutrosophic control, human adaptive mechatronics. The results lead to a high level real-time simulation platform as a new component, alongside the existing ones on the IT market, for modelling the interactions the robots in hazardous or challenging environments. Index Terms-Intelligent control interfaces, virtual projection method, adaptive networked control, tracking trajectory control, contradictory problems, extenics control.

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Section: Vipro Platform Architecturementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Versatile Intelligent Portable Robot Platform Developed through Adaptive Neuro-Fuzzy Control

Vlădăreanu¹,

Vlădăreanu²,

Wang³

et al. 2019

IJMO

Self Cite

View full text Add to dashboard Cite

show abstract

“…The VIPRO Platform architecture for modelling and simulation of mobile robots is based on the virtual projection method [6,[8][9][10][11], through which robotics and mechatronics systems are developed in a virtual environment.…”

Section: D Unity Simulation Component Applied On Vipro Platformmentioning

confidence: 99%

Robot system identification using 3D simulation component applied on VIPRO platform

Vlădăreanu

Smarandache

Ali

et al. 2016

2016 International Conference on Advanced Mechatronic Systems (ICAMechS)

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The paper presents automated estimation techniques for robot parameters through system identification, for both PID control and future implementation of intelligent control laws, with the aim of designing the experimental model in a 3D virtual reality for testing and validating control laws in the joints of NAO humanoid robots. After identifying the maximum likelihood model, the PID amplification factors are optimized and introduced into the Unity environment as a script for controlling the joint. The program used for identifying PID parameters for the NAO robot is developed using the virtual reality platform Unity 3D and integrated into the Graphical Station component of the VIPRO Platform for the control of versatile, intelligent, portable robots. The obtained results, validated in the virtual reality environment, have led to the implementation of the PID identification and optimization component on the VIPRO Platform.

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“…The problem solved by the virtual projection method is that of enabling to desgin, test and experiment different control methods on a real time control system, on-line, even if there is no real mechanical structure [23][24][25]. There is its virtual projection and, thus, it is possible to efficiently improve performnaces of robots control systems, that already exist.…”

Section: Design Of the Vipro Open Architecture Systemmentioning

confidence: 99%

Versatile Intelligent Portable Robot Platform for flexible robotic cells with AGV

Vlădăreanu

Spirleanu

Iliescu

et al. 2015

2015 International Conference on Advanced Mechatronic Systems (ICAMechS)

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The paper studies the flexible robotic cells in cooperation with automated guided vehicle (AGV), in the presence of obstacles, at constant or variable speed and variable load, aiming to optimizing the interaction between AGV and flexible robotic cell components. Overall system performance is analyzed by using modeling tools for discrete event systems like Generalized Stochastic Petri Net (GSPN). The interaction between AGV and flexible robotic cell components is implemented through communication messages using serial data received from an optical XY encoder, communication protocol receive function is modeled with GSPN. Improving of the stability performances and real time motion control are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results, validated on the experimental RTOS robotic platform and DMQX language extension for robotic applications, lead to higher performance in relation to interaction optimization, decrease the flexible cell's cycle time, increase mobility and stability of the AGV and also the development of new technological capabilities of the control systems.

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Cited by 14 publications

References 5 publications

Versatile Intelligent Portable Robot Platform Developed through Adaptive Neuro-Fuzzy Control

Versatile Intelligent Portable Robot Platform Developed through Adaptive Neuro-Fuzzy Control

Robot system identification using 3D simulation component applied on VIPRO platform

Versatile Intelligent Portable Robot Platform for flexible robotic cells with AGV

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