Compact Electro-Mechanical-Fluidic Model for Actuated Fluid Flow System

Maiti, T. K.; Chen, L.; Zenitani, H.; Miyamoto, H.; Miura-Mattausch, M.; Mattausch, H. J.

doi:10.1109/jmmct.2017.2731878

Cited by 3 publications

(1 citation statement)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Furthermore, the measured cr,exp is equal to 6.4 o , while the theoretical prediction gives a smaller cr,theo=5.7 o , for which  reaches its maximum. The reason for the difference in comparison to the measured value of 6.4 o is attributed to the friction effect under real practical conditions, which is induced by the interaction between the robot feet and the ground surface and can be modelled by the equivalent circuit method [49][50]. In our theoretical investigation, the surface-condition contribution for robot balancing has been neglected, and the measurements are performed for relatively slippery surfaces, i.e.…”

Section: B Extension Of Ipm For Incliend Surfacesmentioning

confidence: 99%

Analysis of Sensor-Based Real-Time Balancing of Humanoid Robots on Inclined Surfaces

et al. 2020

Self Cite

View full text Add to dashboard Cite

An experimental and theoretical study of real-time robot balancing on inclined surfaces with electrical feedback circuitry is presented. Force sensors are experimentally shown to extend the sustainability of a stable robot posture beyond a critical surface inclination. For this purpose, the inclination feedback from the force sensors is used to adjust the robot's ankle-pitch-motor angle above the critical inclination, thus enabling the maintenance of a stable robot posture. Further, the Inverted Pendulum Model (IPM) [43-45] is extended to the case of inclined surfaces. Through application of this extended IPM it is demonstrated, that simultaneous use of gyro-sensor data can minimize the necessary initial adjustment of the motor angle for controlled robot-body rotation, which additionally has the positive effect of reducing possible overshoots of the motor's rotation angle during feedback. Consequently, the reported feedback control improves the robotbody stability on inclined surfaces. Efficient implementation of the developed control scheme into an existing robot's electrical system is proposed. INDEX TERMS Balanced walking control, force sensor, gyro sensor, humanoid robot, servo motor.

show abstract

Section: B Extension Of Ipm For Incliend Surfacesmentioning

confidence: 99%