To overcome the drawbacks of using a traditional proportional‐integral‐derivative (PID) control method for a robot driver system, such as requiring preliminary offline learning, big overshoot and large speed fluctuation, a new method for speed tracking of a robot driver system based on sliding mode control is proposed in this paper. Firstly, the coordinated control model ...

We study a novel deterministic online process for the exploration and capture of possible locomotion patterns of a simulated articulated robot with an arbitrary morphology in an unknown physical environment. The robot controller is modelled as a network of neural oscillators which are coupled indirectly through physical embodiment. Goal directed exploration of coordinated motor patterns is achi...

This paper deals with the simulation of a dynamical system in which the motion of each rigid robot is subject to the influence of virtual forces induced by geometric constraints. These constraints may impose joint connectivity and angle limits for articulated robots, spatial relationships between multiple collaborative robots, or have a robot follow an estimated path to perform certain tasks in...

This paper investigates and compares some approaches to trajectory generation for an articulated robot with six degrees of freedom. The trajectory to be planned consists of geometrically predetermined segments and phases where the geometry is free. The overall goal is to minimize the time needed for traversing the whole trajectory from a specified start to a terminal configuration. Constraints ...

Characters, like other articulated objects and structures, are typically simulated using articulated dynamics algorithms. There are efficient linear-time algorithms for the simulation of open-chain articulated bodies, but complexity grows notably under additional constraints such as joint limits, loops or contact, or if the bodies undergo stiff joint forces. This paper presents a linear-time al...

We present an efficient path planning algorithm for highly articulated robots with many degrees of freedom (DoFs). Our approach takes into account physical and geometric constraints and formulates the problem as constrained dynamic simulation. We simulate the motion of the robot using a sub-linear time adaptive forward dynamics algorithm. We also present fast collision detection and response co...