Modeling and invariably horizontal control for the parallel mobile rescue robot based on PSO-CPG algorithm
Wei Chen,
Hao Cheng,
Wenchang Zhang
et al.
Abstract:A walking robot consisting of double Stewarts parallel legs was designed by our research team in the past time, which was mainly used for the transportation of the wounded after the disaster. In order to promote stability of control locomotion and ensure invariably horizontal state of the robot platform in the process of motion, the central pattern generator (CPG) based on particle swarm optimization (PSO) is presented to optimize the kinematic model. The purpose of optimization is to solve the hysteresis prob… Show more
“…In addition to these RAAD papers, the paper "Modeling and invariably horizontal control for the parallel mobile rescue robot based on PSO-CPG algorithm" [11] reports on the modeling and control of a walking robot based on a parallel kinematics.…”
“…In addition to these RAAD papers, the paper "Modeling and invariably horizontal control for the parallel mobile rescue robot based on PSO-CPG algorithm" [11] reports on the modeling and control of a walking robot based on a parallel kinematics.…”
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