Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

The measurement of gastric motor function and transit in man by echo planar magnetic resonance imaging

Echo-planar imaging (EPI) can be used to produce snapshot images of the human stomach and antro-pyloro-duodenal segment in real time as an alternative technique to intubation and exposure to ionizing radiation. The method has been further developed to monitor simultaneous gastric motility and gastric emptying of liquid and solid meals. The model has been utilized to study the effects of pharmacological agents on gastric function.Eight normal subjects were imaged in a 0.5-T superconducting magnet for up to 6 h following ingestion of 800 ml tap water, followed by 500 ml porridge test meal + 500 ml tap water. A rapid multislice technique was adopted to image adjacent transverse slices (10 mm thick) through the gastric region. In addition, three subjects were orally dosed with 20 mg of the prokinetic agent Cisapride. Gastric volumes for each slice were calculated and summed to produce a measure of total gastric volume and gastric emptying. Contractile activity at the level of the antro-pyloric segment was detected using sequential 128 ms images at 3 s intervals. Alternate measurements of gastric volume and motility were made for the duration of the study.Gastric emptyingT _1/2's (times to empty 50% of the gastric contents) of 12.9 min for water and 116 min for porridge were in agreement with results obtained by the traditional techniques of gamma scintigraphy and impedance imaging. The frequency of gastric contractions increased from 2.4 contractions per minute (cpm) to 3.2 cpm following water and from 2.9 to 3.2 cpm following porridge. The prokinetic effect of enhanced coordination of antroduodenal contractions was also observed. These studies have demonstrated that EPI can be used to detect and image gastroduodenal function in man, totally noninvasively, and can be used to study the effects of drugs acting on the gastrointestinal tract.     

Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5)     

FEM model of the ohmic resistance of IP-SOFCs

In the present work, the ohmic resistance of an integrated planar-SOFC (IP-SOFC) has been evaluated by developing a model whose equations have been solved numerically through an FEM method. The model allows to estimate the distribution of voltage and current density in the cell. A comparison between simulated and experimental data of area specific resistance is reported, which shows satisfactory agreement. The mathematical model has also been used to carry out some parametric studies for optimisation purposes. Indeed, a reduction in cell pitch length and an increase in electrode thickness are predicted to lead to a reduction in ohmic losses in IP-SOFCs.     

打捆机器人自动控制系统

介绍了莱钢中小型轧钢生产线打捆机器人自动控制系统的硬件配置、软件结构及其主要控制功能，并对打捆定位和打捆过程作了详细说明。     

基于Matlab的教学型机器人空间运动轨迹仿真

根据教学型机器人的实际结构特点，利用Matlab中SimMechanics工具箱建立了运动学仿真模型。并进行机器人关节空间和直角坐标系下的运动仿真。仿真结果表明利用仿真模型可以准确、有效地得到机器人的运动参数和运动轨迹，为机器人分析设计提供了可靠依据。     

五自由度串联机器人手部特殊的转动自由度

应用反螺旋理论，讨论了当反螺旋理个ｈ≠０旋量时，允许转动轴线在空间分布规律。着重地五自由度串联机器人Ｍｏｔｏｍａｎ的运动性质作出分析，且给出其全部５种不同条件下的运动图谱。     

Adaptive tracking control of manipulators: Theory and experiments

This paper considers the trajectory tracking problem for uncertain robot manipulators and proposes two adaptive controllers as solutions to this problem. The first controller is derived under the assumption that the manipulator state is measurable, while the second strategy is developed for those applications in which only position measurements are available. The adaptive schemes are very general and computationally efficient since they do not require knowledge of either the mathematical model or the parameter values of the manipulator dynamics, and are implemented without calculation of the robot inverse dynamics or inverse kinematic transformation. It is shown that the control strategies ensure uniform boundedness of all signals in the presence of bounded disturbances, and that the ultimate size of the tracking errors can be made arbitrarily small. Experimental results are presented for a PUMA 560 manipulator and demonstrate that accurate and robust trajectory tracking can be achieved by using the proposed controllers.     

双机械臂协调：以运动学为基础的模型分析与动态补偿控制方法

本文建立了双机械臂协调系统的主从式控制的非结构模型，并针对两臂具有相同特性和不同特性这两种情形作了稳定性分析，提出特性校正的方法，本文还利用内模原理设计出动态补偿器来克服标定约束的不确定性对系统控制品质的影响，最后给出了实验结果。