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brachiation-robot
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Control of the cedra brachiation robot using combination of controlled lagrangians method and particle swarm optimization algorithm
, Article Iranian Journal of Science and Technology - Transactions of Mechanical Engineering ; Volume 44, Issue 1 , 2020 , Pages 11-21 ; Vossoughi, G ; Azadi Yazdi, E ; Sharif University of Technology
Springer
2020
Abstract
This paper studies the control of a brachiating robot imitating the locomotion of a long armed ape. The robot has two revolute joints, but only one of them is actuated. In this paper, after deriving dynamic model of the robot, the Controlled Lagrangians (CL) method is used to design a controller for point to point locomotion. The CL method involves satisfying a number of equations called matching conditions. The matching conditions are derived using the extended λ-method in the form of a set of partial differential equations (PDEs). Solving the PDEs, a class of controllers is found that satisfies the matching conditions. The fittest controller in the class of controllers is then chosen by...
Minimum control effort trajectory planning and tracking of the CEDRA brachiation robot
, Article Robotica ; Volume 31, Issue 7 , 2013 , Pages 1119-1129 ; 02635747 (ISSN) ; Lavasani, S. M. H ; Norouzi, M ; Mousavi, M. S. R ; Sharif University of Technology
2013
Abstract
The control of a brachiation robot has been the primary objective of this study. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. In this paper, to minimize the actuator work, Pontryagin's minimum principle was used to obtain the optimal trajectories for two different problems. The first problem considers brachiation between fixed branches with different distance and height, whereas the second problem deals with the brachiating and catching of a moving target branch. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the target dynamics method which was proposed...
Minimum control effort trajectory planning and tracking of the CEDRA brachiation robot [electronic resource]
, Article Robotica ; Robotica / Volume 31 / Issue 07 / October 2013, pp 1119-1129 ; Lavasan, S. M. H ; Norouz, M ; Rahimi Mousavi, M. S ; Sharif University of Technology
Abstract
The control of a brachiation robot has been the primary objective of this study. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. In this paper, to minimize the actuator work, Pontryagin's minimum principle was used to obtain the optimal trajectories for two different problems. The first problem considers “brachiation between fixed branches with different distance and height,” whereas the second problem deals with the “brachiating and catching of a moving target branch”. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the “target dynamics” method which was...
Robot Control By Port-Hamiltonian Approach
, M.Sc. Thesis Sharif University of Technology ; Namvar, Mehrzad (Supervisor)
Abstract
This thesis is devoted to deriving a port Hamiltonian control approach for different scenarios of brachiation movement by a two-link underactuated planar robot called brachiation robot. The port Hamiltonian modeling and control of this type of robot is introduced for the first time and shows promising results in the analysis and simulation as will be showed here. Animals have long inspired roboticists. Their dexterity, versatility, flexibility of motion and great variety of behaviors has made them benchmarks for robot performance. Recently things have begun to change and robots are now capable, to a limited degree, of mimicking the behavior of animals. This paper studies a type of...
Point to point Control of a Brachiation Robot Based on Neural Network
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
• Brachiation robot is a kind of under-actuated robots. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. The purpose of this thesis is control of a two link Brachiation robot. The purpose of this thesis is control of a two link Brachiation robot using neural network and geometry control. For this purpose a genetic algorithm based training Neural Network is used to produce a suitable path for the second link of the robot and then using input-output linearization method, the second link is controlled to follow the path. The simulations shows that the Nero Controller designed in this thesis is suitable. The controller can...
Geometric control of the brachiation robot using controlled Lagrangians method
, Article 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; 17 December , 2014 , Pages 706-710 ; Vossoughi, G ; Yazdi, E. A ; Sharif University of Technology
Abstract
This paper studies a brachiation robot that is a long armed locomotion similar to apes. The robot has 2 revolute joints but only one of them is actuated. In this paper, after deriving dynamic model of the robot the Controlled Lagrangian (CL) method is used for stabilization. The matching conditions satisfied for the controller are derived and the extended λ-method is used to solve PDE's involved in the method of controlled lagrangian. Satisfactory controller's gains are chosen by PSO algorithm. Finally, feasibility of the developed controller is investigated by numerical simulations
Geometric Control of Brachiation Robot using Controlled Lagrangians Method
, M.Sc. Thesis Sharif University of Technology ; Vosoughi, Gholamreza (Supervisor) ; Azadi Yazdi, Ehsan (Supervisor)
Abstract
This thesis studies a brachiation robot that is a long armed locomotion similar to apes. The robot has 2 revolute joints but only one of them is actuated. In this thesis, after deriving dynamic model of the robot, the Controlled Lagrangian (CL) method is used for stabilization. The matching conditions satisfied for the controller are derived and the extended λ-method is used to solve PDE’s involved in the method of controlled lagrangian. Satisfactory controller’s gains are chosen by PSO algorithm. Feasibility of the developed controller is investigated by numerical simulations and finally, theoretical results are validated with experimental observations
Design, Fabrication and Model-based Control of Brachiation Robot
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor)
Abstract
In the beginning of the 90’s a new type of robot was introduced by Fukuda. The brachiation is a type of mobile robot that moves from branch to branch like a long-armed ape. Here, as a new innovation, optimal control is used to obtain the optimal trajectories for two different problems. The first problem is “Brachiation between fixed branches with different distance and height” and the second is “Brachiating and catching the moving target branch”. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the “Target Dynamics” method which was proposed in prior articles for this robot. The obtained optimal trajectory also minimizes the...
Design, Fabrication and Model-base Control of a Brachiation Robot with Flexible Support
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor) ; Namvar, Mehrzad (Supervisor)
Abstract
Nowadays, many researches are inspired by nature and living creatures in order to build various scientific and industrial products such as robots, because of the highest level of creativity which is used in creating them along with their high level of efficiency in power consumption and designing parameters. Underactuated Robots are the type of robots which have more degrees of freedom comparing to the number of operators. As a result their optimum control has a lot of complications. Brachiating robots are designed and built based on an inspiration from long armed apes (Gibbons). This type of monkey is highly skilled in twisting in trees and traversing. This type of movement benefits from...
Optimal trajectory planning for brachiation robot on ladder with irregular branches
, Article Proceedings of the ASME Design Engineering Technical Conference, 28 August 2011 through 31 August 2011 ; Volume 6, Issue PARTS A AND B , August , 2011 , Pages 1131-1137 ; 9780791854839 (ISBN) ; Lavasani, S. M. H ; Mousavi, M. S. R ; Norouzi, M ; Sharif University of Technology
2011
Abstract
This paper deals with control of the brachiation robot. The brachiation is a type of mobile robot that moves from branch to branch like a long-armed ape. Here, as a new innovation, Pontryagin's minimum principle is used to obtain the optimal trajectories for two different problems. The first problem is "Brachiation between fixed branches with different distance and height" and the second is "Brachiating and catching the moving target branch". Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the "Target Dynamics" method which was proposed in prior articles for this robot. The obtained optimal trajectory also minimizes the brachiation...