Bingtuan Gao

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A miniature robot with continuous jumping ability is presented in this paper. The robot has a dimension about 6cm×8cm×2cm and weighs 20 grams. To achieve continuous jumping, various mechanisms are needed including the jumping mechanism, energy store and release mechanism, self-righting mechanism, and jumping direction changing mechanism. The(More)
This paper presents a nonlinear controller design scheme for a gantry crane system based on partial feedback linearization. In the underactuated gantry crane system, the active degrees corresponding to the freedom are linearized based on I/O linearization techniques, while the passive degree is taken as the internal dynamics of the system. The trajectory(More)
The translational oscillation with a rotational actuator (TORA) system has been used as a benchmark for motivating the study of nonlinear control techniques. In this paper, modeling and control of a novel 2-dimensional TORA (2DTORA) are presented. The 2DTORA is an underactuated mechanical system which has one actuated rotor and two unactuated translational(More)
Based on Lagrange equations, a 3D crane system dynamic model is derived which describes the simultaneous travelling, traversing, and hoisting motions of the crane, and the resulting load swing. With this dynamic model, this paper presents a nonlinear controller design scheme for the 3D crane payload based on partial feedback linearization technique. By(More)
A humanoid neck design with low motion noise yields a cable-driven parallel manipulator to imitate two axis rotational motion of a human neck. The fixed base and moving platform of the manipulator are connected by four cables and a column compression spring. The four cables are actuated separately, while the spring can support weight on the moving platform.(More)
We present the design and implementation of a new jumping robot for mobile sensor network. Unlike other jumping robots, the robot is based on a simple two-mass-spring model. After we throw it on ground, it can stabilize itself and then jump once. The detailed mechanism design including the load holding and self-stabilization are presented. Jumping heights(More)
This paper presents a new and effective multisensor based control strategy for high-accuracy/precision and high-efficiency automatic robot localization and calibration. The strategy combines both coarsely visual servo and fine position-sensitive detector (PSD) servo control methods. In a large field of view, an image-based visual servo control system is(More)
This paper describes our updated system for industrial robot joint offset calibration. The system consists of an IRB1600 industrial robot, a laser tool attached to the robot's end-effector, a portable position-sensitive device (PPD), and a PC based controller. By aiming the laser spot to the center of position-sensitive-detector (PSD) on the PPD with(More)
The plug-in electric vehicle (PEV) has attracted more and more attention because of the energy crisis and environmental pollution, which is also the main shiftable load of the residential users’ demand side management (DSM) system in the future smart grid (SG). In this paper, we employ game theory to provide an autonomous energy management system among(More)
Mobile sensors with jumping ability provide several advantages compared with the traditional wheeled sensors such as ability to move in rugged terrain. A controllable jumping robot for this purpose is described in this paper. The robot has dimension about 9.5cm×9cm×3cm and weighs 54.1 grams. It can perform the jumping process continuously.(More)