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Review of human–robot coordination control for rehabilitation based on motor function evaluation

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0684-4

Abstract: As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliaryOne of the main elements of such a human–robot coupling system is a control system to ensure human–robotThis review aims to summarise the development of human–robot coordination control and the associatedachievements and provide insight into the research challenges in promoting innovative design in such controlThen, human–robot coordination is discussed in terms of three aspects: modelling, perception and control

Keywords： human–robot coupling lower limb rehabilitation exoskeleton robot motor assessment dynamical model

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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 2, Pages 166-172 doi: 10.1631/FITEE.1400183

Abstract: This research formulates a path-following control problem subjected to wheel slippage and skid and solvesit using a logic-based control scheme for a wheeled mobile robot (WMR).Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed controlThe robot successfully followed the desired circular trajectory in the presence of wheel slippage andThis research finds its potential in various applications involving WMR navigation and control.

Keywords： Robot modeling Robot navigation Slip and skid control Wheeled mobile robots

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Landing control method of a lightweight four-legged landing and walking robot

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0707-1

Abstract: A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study.The robot integrates the functions of a lander and a rover, including folding, deploying, repetitiveA landing control method via compliance control is proposed to solve the critical problem of impact energy

Keywords： landing and walking robot lunar exploration buffer landing compliance control

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0753-3

Abstract: To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methodsresolve the tracking control and obstacle avoidance separately.To address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) frameworkSpecifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different stages.

Keywords： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminalsliding mode control sub-target dynamic tracking regression obstacle avoidance

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2, Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedThe dynamic alternating tripod trotting gait is developed to control the robot, and the parameters ofactive compliance control change with the terrain.Finally, the method is integrated on a hexapod robot and tested by real experiments.Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam.

Keywords： terrain classification hexapod robot legged robot adaptive locomotion gait control

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Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0698-y

Abstract: The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasiveObtaining the transformation with respect to the laparoscope and robot slave arm frames using hand−eyecalibration is essential, which is a key component for developing intuitive control algorithm.simulations and experimental studies were conducted to evaluate the proposed method on our surgical robotThe relationship between laparoscope and robot kinematics can be established for intuitive control.

Keywords： minimally invasive surgery hand−eye calibration intuitive control surgical robot dual quaternion

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Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3, Pages 504-527 doi: 10.1007/s11465-020-0626-y

Abstract: multiple mode-based navigation system, which can achieve efficient motion planning and accurate tracking controlWith the desired profile curvature and preselected mode, a fuzzy adaptive receding horizon control is

Keywords： mobile robot multiple maneuvering mode motion planning tracking control receding horizon control

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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2, Pages 168-174 doi: 10.1007/s11465-007-0028-4

Abstract: To precisely implement the force control of robot manipulators in an unknown environment, a control strategyThe force tracking experiments are executed in an open-architecture control system with different trackingThe corresponding force control results are compared and analyzed.in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control

Keywords： predictive tracking corresponding stiffness algorithm

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Continuous path control of robot arm in network-based remote control

Zheng Hua, Cong Shuang

Strategic Study of CAE 2008, Volume 10, Issue 10, Pages 91-95

Abstract:

By discussing the drawbacks of a 2-dof robot arm remote control basedon the point-to-point control, the continuous path control method is applied to the joint-coordinate-space-basedserial robot remote control system.The condition needed to realize the continuous control is analyzed and the computation formula of theThe actual remote control experiment is implemented, and the continuous and smooth movement results are

Keywords： remote control continuous path control robot arm system

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Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3, Pages 329-335 doi: 10.1007/s11465-006-0034-y

Abstract: This paper presents a robot manipulator tracking controller based on output feedback linearization.The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulatorThe controller design does not need an accurate model of the robot manipulator.Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approachThe simulation results show that the proposed controller has more superior tracking control performance

Keywords： available comparison unmeasurable nonlinear perturbation observer

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2, Pages 193-208 doi: 10.1007/s11465-019-0569-3

Abstract: with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space controlfor a monopode robot to deal with terrain irregularity.prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robotThe lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task spaceConsequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain

Keywords： legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: algorithm can efficiently run onboard and online by using terrain perception information to protect the robotBy relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithmThen, it constructs an optimization function combined with the robot’s state information to select thenext footholds and generate the motion trajectory to control the robot’s locomotion.We successfully implemented the algorithm on a hexapod robot, and verified its feasibility in a walking

Keywords： footholds optimization legged robot complex terrain adapting hexapod robot locomotion control

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 2, Pages 198-210 doi: 10.1007/s11465-015-0335-0

Abstract: productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical controlstrategies with their modern control counterparts.Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniquesthree kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control

Keywords： robot control robust and nonlinear control adaptive control intelligent control industrial manipulators

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2, Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract:

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibrationThe control is developed for devices actuated by speed-controlled servo drives.tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robotThe control is aimed to be compatible with most industrial applications given the simplicity of implementation

Keywords： industrial robot nonlinear control vibration damping model-free control motion control

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Human–Robot Collaboration Framework Based on Impedance Control in Robotic Assembly Article

Xingwei Zhao,Yiming Chen,Lu Qian,Bo Tao,Han Ding

Engineering 2023, Volume 30, Issue 11, Pages 83-92 doi: 10.1016/j.eng.2022.08.022

Abstract:

Human–robot (HR) collaboration (HRC) is an emerging research field because of the complementaryAn HRC framework for robotic assembly based on impedance control is proposed in this paper.In the HRC framework, the human is the decision maker, the robot acts as the executor, while the assemblyThe robot is the main executor to perform the assembly action, which has the position control, drag anddrop, positive impedance control, and negative impedance control modes.

Keywords： Human–robot collaboration Impedance control Robotic assembly