In unpredictable scenarios, quadruped robots with behavior-controllable capabilities can often improve their adaptability through interaction with users. In this paper, we propose a behavior-controllable motion control method, integrating user comman...
A nonlinear passive observer (NPO) for estimating the time-varying velocity vector of a multi-axis high-precision motion control stage is presented. The proposed nonlinear estimation strategy is developed based on a Lyapunov stability analysis, which...
Multimodal motion capability is an emerging topic in the robotics field, and this paper presents a hybrid robot system maneuvering in both terrestrial and aerial environments. Firstly, a micro quadruped–quadrotor robot with onboard sensing and...
Guaranteeing isochronous transfer of control commands is an essential function for networked motion control systems. The adoption of real-time Ethernet (RTE) technologies may be profitable in guaranteeing deterministic transfer of control messages. H...
The motion control of vehicles poses distinct challenges for both vehicle stability and path tracking, especially under critical environmental and driving conditions. Overactuated vehicles can effectively utilize the available tyre–road frictio...
Unmanned Aerial Vehicles have generated considerable interest in different research fields. The motion control problem is among the most important issues to be solved since system dynamic stability depends on the robustness of the main controller aga...
Conventional dynamic vibration absorbers are physical control devices designed to be coupled to flexible mechanical structures to be protected against undesirable forced vibrations. In this article, an approach to extend the capabilities of forced vi...
Independent metering systems (IMSs) have been applied and researched in mobile machinery due to their advantages of reduced throttling energy losses and remarkable advances under negative load through decoupling actuator throttling control. Although...
The motion planning and control method of automated vehicles, as the key technology of automated vehicles, directly affects the safety, comfort, and other technical indicators of vehicles. The planning module is responsible for generating a vehicle d...
Space debris mitigation is a pivotal endeavor essential for sustaining human space exploration. To address the challenges posed by irregularly shaped, variably sized, and dynamically unpredictable debris in orbit, this paper proposes a mechanical des...
Within this work we present AMiCUS, a Human-Robot Interface that enables tetraplegics to control a multi-degree of freedom robot arm in real-time using solely head motion, empowering them to perform simple manipulation tasks independently. The articl...
Physiological organ motion, such as breathing movement, presents a challenge in the development of medical robots for autonomous wound closure. The robot’s task is to determine the wound’s pose and relay magnetic fixtures near the wound e...
At present, with the development of waterborne transport vehicles, research on ship faces a new round of challenges in terms of intelligence and autonomy. The concept of maritime autonomous surface ships (MASS) has been put forward by the Internation...
Currently robotic motion control algorithms are tedious at best to implement, are lacking in automatic situational adaptability, and tend to be static in nature. Humanoid (human-like) control is little more than a dream, for all, but the fastest comp...
The paper presents a DSP-based design and control of a three-axis servo motion system that effectively divides control tasks between the master control terminal and four slave drives. The proposed architecture enhances the immediacy of platform posit...
In view of the requirements on control precision of autonomous underwater vehicles (AUVs) in different operations, the improvement of AUV motion control accuracy is the focus of this paper. In regard to the unsatisfying robustness of traditional cont...
This work presents a control strategy designed to reduce the energy consumption of direct current motors by implementing smooth motion trajectories in a point-to-point control system, utilizing a fuzzy logic controller based on the Tsukamoto inferenc...
This paper presents an improved motion controller based on the backstepping method to address nonlinear control challenges in unmanned aerial–aquatic vehicles (UAAVs), enabling them to navigate between two different media. The nonlinear control...
Hybrid CNC and additive manufacturing platforms often rely on host-assisted or otherwise overdimensioned control architectures to achieve deterministic multi-axis motion, increasing system cost and complexity. This paper presents a fully microcontrol...
The three-axis parallel motion platform (TAPMP) with a common stator has low motion inertia, enabling highly precise and high-speed motion over a large range of strokes. The primary challenge faced by the TAPMP lies in the mutual pulling exerted betw...
Humanoid robots are typically designed for static environments, but real-world applications demand robust performance under dynamic, uncertain conditions. This paper introduces a perceptive motion planning and control algorithm that enables humanoid...
The swaying motion of ships can always be generated due to the influence of complex sea conditions. A novel offshore Self-Stabilized system based on motion prediction and compensation control was studied. Firstly, an autoregressive model of ship moti...
The main purpose of this paper is to construct an autopilot system for unmanned railcars based on computer vision technology in a fixed luminous environment. Four graphic predefined signs of different colors and shapes serve as motion commands of acc...
We propose a data-driven, model-free adaptive sliding mode control (MFASMC) approach to address the Haidou-1 ARV under-actuated motion control problem with uncertainties, including external disturbances and parameter perturbations. Firstly, we analyz...
To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resu...
A flexible chassis (FC) is a type of electric vehicle driven by in-wheel motors that can be used in narrow conditions in agricultural facilities. The FC is composed primarily of four off-center steering mechanisms (OSMs) that can be controlled indepe...
Human–Robot Interaction (HRI) for collaborative robots has become an active research topic recently. Collaborative robots assist human workers in their tasks and improve their efficiency. However, the worker should also feel safe and comfortabl...
This paper studies a novel intelligent motion control algorithm for Autonomous Underwater Vehicles (AUV) and develops a virtual reality system for a new interactive experimental platform. The paper designs a robust neuro-fuzzy controller to tackle sy...
A six degree-of-freedom (DOF) motion control system for docking with a deep submergence rescue vehicle (DSRV) test platform was the focus of this study. The existing control methods can meet the general requirements of underwater operations, but the...
Relative motion control problem for capturing the tumbling space debris object is considered. Onboard thrusters and reaction wheels are used as actuators. The nonlinear coupled relative translational and rotational equations of motion are derived. Th...
Robots have poor adaptive ability in terms of formation control and obstacle avoidance control in unknown complex environments. To address this problem, in this paper, we propose a new motion planning method based on flocking control and reinforcemen...
Assistive robots support people with limited mobility in their everyday life activities and work. However, most of the assistive systems and technologies for supporting eating and drinking require a residual mobility in arms or hands. For people with...
Motion control is widely used in industrial applications since machinery, robots, conveyor bands use smooth movements in order to reach a desired position decreasing the steady error and energy consumption. In this paper, a new Proportional-Integral-...
Inspired by the adaptive flexible motion coordination of biological systems, this study presents a bioinspired control strategy that enables robotic manipulators to achieve precise and compliant motion–force coordination for embodied intelligen...
Pitch Control plays a significant role for a large wind turbine. This study investigates a novel robust hydraulic pitch control system of a large wind turbine. The novel hydraulic pitch control system is driven by a novel high efficiency and high res...
In this paper, a generic coordinated control method for wave energy converters is proposed, and the constraints on motion amplitudes and the hydrodynamic interaction between converters are considered. The objective of the control problem is to maximi...
With the development of electrification and intelligent technologies in vehicles, ride comfort issues represented by motion sickness have become a key constraint on the performance of autonomous driving. The occurrence of motion sickness is influence...
Pneumatic linear peristaltic actuators can offer some potential advantages when compared with conventional ones. The low cost, virtually unlimited stroke and easy implementation of curved motion profiles are among those benefits. On the downside, the...
The present study investigated the effect of retinal eccentricity on visually induced motion sickness (VIMS) and postural control. Participants wore a head-mounted display masked for the central 10° (peripheral vision), the peripheral except for...
A control design is presented for a cable driven parallel manipulator for performing a controlled motion assistance of a human ankle. Requirements are discussed for a portable, comfortable, and light-weight solution of a wearable device with an overa...
To address the issues of vibration in high-speed machining and the challenge of balancing motion smoothness and precision, this paper proposes a cascade control method based on a single-neuron adaptive PID. The method employs a dual closed-loop struc...
The application of Autonomous Underwater Vehicle (AUV) is expanding rapidly, which drives the urgent need of its autonomy improvement. Motion control system is one of the keys to improve the control and decision-making ability of AUVs. In this paper,...
In this study, vibration control, a behavior which subordinates to stall-induced nonlinear vibration and amplitude control of a wind turbine’s blade section, based on unified pitch motion driven by slider-linkage mechanism, is investigated by u...
The thrust system of a tunnel boring machine plays a crucial role by driving the machine ahead and supporting the gripper shoes stably. A thrust hydraulic control system, assembled with a proportional flow control valve and a pressure relief valve, i...
Recent advancements have been made in unmanned freight systems at ports, effectively improving port freight efficiency and being widely promoted and popularized in the field of cargo transportation in major ports around the world. The path planning a...
With the continuous progress and application of robotics technology, the importance of mobile robots capable of adapting to specialized work environments is gaining prominence. Among them, achieving precise and stable control of AGVs (Automated Guide...
This paper presents new motion planning and robust coordinated control schemes for trajectory tracking of the underwater vehicle-manipulator system (UVMS) subjected to model uncertainties, time-varying external disturbances, payload and sensory noise...
The paper refers to one of the most important problems in industrial automation and robotics—effective motion control in the presence of state variable constraints. A new, nonlinear, adaptive, robust, and practically applicable motion controlle...
To address the motion control challenges of remotely operated vehicles (ROVs) under model uncertainties, external disturbances, and uncertain hydrodynamic parameters, this study proposes a fractional-order super-twisting sliding mode control (FOST-SM...
This work proposes the application of several smart strategies for object manipulation tasks. A real-time flexible motion planning method was developed to be adapted to typical in-store logistics scenarios. The solution combines and optimizes some st...
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