Stability Analysis of the Walking Robots Motion

All real automatic systems are nonlinear, non-stationary, with unstable parameters. The problem of the automated design of such systems with a high order (from the 4th above) has "narrow" places. The main thing is how to construct multidimensional quasi optimal "desirable" structure, with simple means, meeting contradictory requirements. It is offered to apply model management in the form of the standard rated characteristic equations with the maximum degree of stability (SRCE-MDS). The algorithm of parametrical control which is passing to the system of the nonlinear algebraic equations decision is it is described and reasonable in this article. The control example shows how it works. Big stability of system characteristics at variations of parameters at control on SRCE-MDS is shown considerably. By this way we can construct multidimensional quasi optimal "desirable" structure. The other way is to use adaptive control systems.

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“…Thus, for MNNAS at unstable parameters structures of SRCE-DS are recommended [3][4][5][6][7][8][9][10]. It can be used for example in [14].…”

Section: Resultsmentioning

confidence: 99%

Structures of automatic systems with unstable parameters

Potapov¹,

Stazhkov²,

Gradovtsev³

et al. 2016

DAAAM Proceedings

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“…For instance: stability, efficiency, controllability, maneuverability, and smooth turning. These troubles are mostly related to mechanical engineering, which can be solved by understanding the kinetic theories' and dynamic mechanisms [14].…”

Section: Robot Locomotionmentioning

confidence: 99%

“…Proprioceptive sensors measure some parameters inside the robot such as battery energy level, steering angle, and load on the motor, and its speed. In comparison, Exteroceptive sensors refer to the type that collects data about the surrounding area like sound level, distance to an obstacle, or light intensity [13], [14].…”

Section: Robot Perceptionmentioning

confidence: 99%

Vision-Based Mobile Robot Controllers: A Scientific Review

Abdulazeez¹

2021

TURCOMAT

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Today, there are different types of self-controlled robots. Some of them had critical effects on our lives like industrial and medical robots. Others are for military usages such as drones and the pets robots just for entertainment. The crucial differences between this kind of robot and the controlled ones are their ability to move on their own and make decisions based on their observations of the world around them. Mobile robots must have a data source used as an input dataset and processed to change their behavior; for instance, moving, stopping, rotating, or doing any required action based on the information gathered from the surrounding environment. Different types of sensors were used to feed robots controllers with data. Such data source could be ultrasonic sensor, laser sensor, torque sensor, or vision sensor. Robots integrated with cameras were becoming an essential field of study. They recently attracted significant attention from researchers it has been commonly used in many sectors of healthcare, manufacturing, and many other services. The robot needs a controller with a powerful mechanism of realization to deal with such incoming data. The world of mobile robot controllers is discussed in this paper, and the latest trends were reviewed. This review aims to provide a general understanding of robot controllers and navigation methods developed over the last few years.

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“…This property is proposed that define the environment's mathematical model. The mathematical conditions on the linear dynamic system matrix components that assure the separation between stable and unstable regions from the free parameters domain of the system are formulated [7][8][9]. In the second part of the exposure is described our walking robot evolution kinematics model and corresponding dynamic model with application on particular case of walking robot leg.…”

Section: Introductionmentioning

confidence: 99%

The walking robots critical position of the kinematics or dynamic systems applied on the environment model

Migdalovici¹,

Vlădăreanu²,

Yu³

et al. 2018

IJET

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The exposure is dedicated in the first to mathematical modeling of the environment where the aspects on the walking robots evolution models are described. The environment’s mathematical model is defined through the models of kinematics or dynamic systems in the general case of systems that depend on parameters. The important property of the dynamic system evolution models that approach the phenomenon from the environment is property of separation between stable and unstable regions from the free parameters domain of the system. Some mathematical conditions that imply the separation of stable regions from the free parameters domain of the system are formulated. In the second part is described our idea on walking robot kinematics and dynamic models with aspects exemplified on walking robot leg. An inverse method for identification of possible critical positions of the walking robot leg is established.

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Stability Analysis of the Walking Robots Motion

Cited by 12 publications

References 9 publications

Structures of automatic systems with unstable parameters

Structures of automatic systems with unstable parameters

Vision-Based Mobile Robot Controllers: A Scientific Review

The walking robots critical position of the kinematics or dynamic systems applied on the environment model

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