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Omni-directional walking control for a six-legged robot using differential kinematics algorithm |
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Giang Hoang, Jung Hu Min(Pukyong National University, Republic of Korea), Gyeong Mok Lee, Bong Huan Jun(Korea Research Institute of Ships and Ocean Engineering, Republic of Korea), Hak Kyeong Kim, Sang Bong Kim(Pukyong National University, Republic of Korea) |
| Omni-Directional Walking Control for a Six-Legged Robot Using Differential Kinematics Algorithm
Giang Hoang, Jung Hu Min, Gyeong Mok Lee, Bong-Huan Jun, Hak Kyeong Kim and Sang-Bong Kim (PKNU, Korea)
This paper introduces omni-directional walking control of a six-legged robot (6LR). The 6LR consists of its body, six legs with four links and four rotational joints. The followings are done for this task. First, the walking gait of the 6LR is chosen. Second, modeling for one leg with four links and four rotational joints of the 6LR is proposed. It is
difficult and complex to get the angles of |
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Vision-based collaborative lifting using quadrotor UAVs |
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Suseong Kim, Seungwon Choi, Hyeonbeom Lee, H. Jin Kim(Seoul National University, Republic of Korea) |
| This paper presents vision-based lifting of a payload using two quadrotor UAVs. It is assumed that the exact position of a payload is not available. Specifically, for multiple UAVs to approach and connect the correct spots on the payload, image-based visual servo (IBVS) is adopted. A sliding mode controller is designed to track reference positions and velocities generated by IBVS. A scenario is designed from taking off to lifting the payload. The proposed methods and settings are validated with an experiment. |
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Pursuit and Evasion in a Recursive Nested Behavioral Control Structure for Unmanned Aerial Vehicles |
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Alexander Alexopoulos, Tobias Schmidt, Essameddin Badreddin(Heidelberg University, Germany) |
| This work tackles the problem of integrating a pursuit-evasion game (PEG) in a recursive nested behavioural control structure for unmanned aerial vehicles (UAV). The new high-level behaviors "pursuit" and "evasion" are introduced, describing the PEG. The repulsion force approach is used as collision avoidance technique and provides a velocity vector, which is added to the reference velocity vector of the upper level, if there is a collision risk. It is shown that this approach provides a collision-free pursuit-evasion between UAV agents in a general three-dimensional environment. |
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3-Dimensional Kinodynamic Motion Planning for an X4-Flyer Using 2-Dimensional Harmonic Potential Fields |
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Kimiko Motonaka, Keigo Watanabe, Shoichi Maeyama(Okayama University, Japan) |
| In this research, it is aimed at guiding an X4-Flyer, which is a VTOL type UAV, to an arbitrary target point. In the previous research, we proposed a controller for an X4-Flyer to move on the X-Y plane by using a 2-dimensional harmonic potential field (HPF), assuming that the X4-Flyer keeps its altitude constantly. In this paper, the controller guides the X4-Flyer to an arbitrary target point in a 3-dimensional space by switching some 2-dimensional HPFs appropriately. It is confirmed on the simulation that the X4-Flyer can reach the arbitrary target point in the 3-dimensional space by using t |
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The Development of a 3D Position Measurement System for Indoor Aerial Robots |
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Keigo Watanabe(Okayama Univ, Japan), Yuya Yamada(OMRON Corporation, Japan), Isaku Nagai(Graduate School of Natural Science and Technology, Okayama University, Japan) |
| In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space. |
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Hierarchical Backstepping Control for Trajectory-Tracking of Autonomous Underwater Vehicles Subject to Uncertainties |
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Hsiu-Ming Wu, Mansour Karkoub(Texas A&M University at Qatar, Qatar) |
| In this study, the hierarchical backstepping control (HBC) is used for the trajectory-tracking of autonomous
underwater vehicles (AUV) subject to uncertainties (e.g., current disturbances). The proposed HBC utilizes hierarchical
structures of the backstepping control based on the kinematic and dynamic models such that both the virtual velocity
control and trajectory-tracking of the AUV lead to asymptotic stability. The robustness of the proposed control
technique is demonstrated via injection of uncertainties into the closed-loop model. The overall closed-loop stability of
the proposed control |
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