Header The control of a legged robot walking on difficult terrain demands the development of efficient and reliable algorithms to coordinate the movement of multiple legs according to a diversity of requirements. We present a control structure, implemented on a six-legged robot, in which the aspects of stability, mobility, ground accommodation, gait generation, and robot heading are integrated ...

Neural network based controller is used for controlling a mobile robot system. Feedback error learning (FEL) can be regarded as a hybrid control to guarantee stability of control approach. This paper presents simulation of a mobile robot system controlled by a FEL neural network and PD controllers. This feedback error-learning controller benefits from both classic and adaptive controller proper...

The distributed control of multi-robot systems has been shown to have advantages over conventional single robot systems. These include scalability, flexibility and robustness to failures. This paper considers pattern formation and reconfigurability in a multi-robot system using bifurcating potential fields. It is shown how various patterns can be achieved through a simple free parameter change....

Owing to load variation and unmodeled dynamics, a robot manipulator can be classified as a nonlinear dynamic system with structured and unstructured uncertainties. In this paper, the stability and robustness of a class of the fuzzy logic control (FLC) is investigated and a robust FLC is proposed for a robot manipulator with uncertainties. In order to show the performance of the proposed control...

In many industrial robot applications it is a fact that the robot is programmed to do the same task repeatedly. By observing the control error in the different iterations of the same task it becomes clear that it is actually highly repetitive. Iterative Learning Control (ILC) allows to iteratively compensate for and, hence, remove this repetitive error. In the thesis different aspects of iterat...

A new position controller with gravity compensation for robot manipulators in joint space is proposed in this paper. The goal of position control problem for global asymptotically stability is achieved by using Lyapunov ’s direct method and LaSalle ’s invariance principle over the full non—linear mutivariable robot closed—loop system. In adition, this paper also presents experimental results on...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...