Mid-air Motion Planning of Floating Robot Using Heat Flow Method

Fan, Yinai; Liu, Shenyu; Belabbas, Mohamed-Ali

doi:10.1016/j.ifacol.2019.11.041

Cited by 4 publications

(4 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…H(h j (x))B j (t), for inequality constraint. (21) in which H(•) is the Heaviside function used in (19), B j (t) is the activation function for the j-th scalar state constraint. A constraint can be active either for the duration of the motion (e.g., bound on joint angle), or depending on the phase in the motion.…”

Section: Fixed Contact Foot Position Formulationmentioning

confidence: 99%

“…These methods were extended in [5], in which the Affine Geometric Heat Flow (AGHF) is introduced to handle systems with drift. Motions for robot systems are generated using AGHF in [19,6]. The present work is the first attempt at formulating the hybrid legged locomotion problem into AGHF framework and shows the potential to extend to more complicated systems and scenarios.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Geometric Heat Flow Method for Legged Locomotion Planning

Fan¹,

Liu²,

Belabbas³

2021

Preprint

Self Cite

View full text Add to dashboard Cite

We propose in this paper a motion planning method for legged robot locomotion based on Geometric Heat Flow framework. The motion planning task is challenging due to the hybrid nature of dynamics and contact constraints. We encode the hybrid dynamics and constraints into Riemannian inner product, and this inner product is defined so that short curves correspond to admissible motions for the system. We rely on the affine geometric heat flow to deform an arbitrary path connecting the desired initial and final states to this admissible motion. The method is able to automatically find the trajectory of robot's center of mass, feet contact positions and forces on uneven terrain.

show abstract

Section: Fixed Contact Foot Position Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Geometric Heat Flow Method for Legged Locomotion Planning

Fan¹,

Liu²,

Belabbas³

2021

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…The adsorption characteristics of activated carbon are correlated to the numerous functional groups found on its surface, including quinone, lactone, phenol, carbonyl and carboxyl [14]. However, there are major limitations in the commercial application of activated carbon, such as its costly synthesis [15], expensive regeneration method and use of nonrenewable carbon sources including lignite, anthracite, coal, peat and hydrogen gas [16,17]. To promote a green circular economy, research on low-cost, renewable carbon resources, including agricultural waste, as alternative materials has been investigated.…”

Section: Introductionmentioning

confidence: 99%

Adsorption of Lead from Aqueous Solution Using Activated Carbon Derived from Rice Husk Modified with Lemon Juice

Futalan,

Diana,

Edang

et al. 2023

Sustainability

View full text Add to dashboard Cite

In the present work, activated carbon (RHAC-LJ) was synthesized utilizing rice husk as a carbon source that is activated with lemon juice. Moreover, the adsorptive capacity of RHAC-LJ in removing Pb(II) from aqueous solution was investigated. FTIR analysis revealed the presence of amides, alkenes, carboxyl and hydroxyl groups in RHAC-LJ. SEM micrographs illustrate that activation with lemon juice resulted in high pore volume and greater pore diameter. Activation using acid from lemon juice can remove impurities from the adsorbent surface. The surface area and pore volume of RHAC-LJ were determined to be 112.87 m2·g−1 and 0.107 cm3/g, respectively. Adsorption kinetics followed the pseudo-second-order equation (R2 = 0.9941) with a rate constant of 3.3697 g/mg·min for Pb (II), which indicates chemisorption to be the rate-determining step of the process. The BBD model using RSM was applied in studying the effects of pH, stirring speed and adsorbent dosage and their interactions on the removal efficiency of RHAC-LJ. Analysis of variance was used to examine the significance of the model, independent parameters, and their interactions. Moreover, a removal efficiency of 98.49% can be attained using the following optimal conditions: 197 rpm, pH 5.49, and adsorbent dosage of 0.3487 g. Overall, the present work illustrates RHAC-LJ as a potential low-cost adsorbent for the removal of Pb(II) from synthetic wastewater.

show abstract

“…While the final joint angles are prescribed, there are no constraints on the final velocities of the joints if "landing with impact" is allowed. On the other hand, if the final dynamic configuration is fully fixed for the same somersault problem, we have implicit constraints on choosing the initial configuration because of the conservation of angular momentum in mid-air and hence it is better to ask the algorithm to find the feasible initial configuration [15]. In terms of terminal time, it is less important for driftless systems because the time span can always be adjusted by input scaling; however, scaling will not work if there is drift or the control is constrained.…”

Section: Introductionmentioning

confidence: 99%

Geometric Motion Planning for Affine Control Systems with Indefinite Boundary Conditions and Free Terminal Time

Liu,

Fan,

Belabbas

2020

Preprint

Self Cite

View full text Add to dashboard Cite

The problem of motion planning for affine control systems consists of designing control inputs that drive a system from a well-defined initial to final states in a desired amount of time. For control systems with drift, however, understanding which final states are reachable in a given time, or reciprocally the amount of time needed to reach a final state, is often the most difficult part of the problem. We address this issue in this paper and introduce a new method to solve motion planning problems for affine control systems, where the motion desired can have indefinite boundary conditions and the time required to perform the motion is free. The method extends on our earlier work on motion planning for systems without drift. A canonical example of parallel parking of a unicycle with constant linear velocity is provided in this paper to demonstrate our algorithm.

show abstract

Mid-air Motion Planning of Floating Robot Using Heat Flow Method

Cited by 4 publications

References 18 publications

Geometric Heat Flow Method for Legged Locomotion Planning

Geometric Heat Flow Method for Legged Locomotion Planning

Adsorption of Lead from Aqueous Solution Using Activated Carbon Derived from Rice Husk Modified with Lemon Juice

Geometric Motion Planning for Affine Control Systems with Indefinite Boundary Conditions and Free Terminal Time

Contact Info

Product

Resources

About