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Journals and Conferences
In this paper authors present an approach for navigation and path-following control system for three-links crawling robot. This strategy is based on bio-inspired adaptive control (BIAC) which collects information from different sensors and creates desired gait patterns.
This paper considers a problem of controlling an pipeline walking robot. The proposed control system design uses a nested quadratic programming-based controller (NQPC). This controller enables control operations taking into account both equality and inequality of mechanical constraints and bounds influencing control values (i.e. motor torques). The proposed… (More)
The authors of this paper consider a planar pipeline robot with four legs, each made of two links connected via actuated rotational joints. The paper is focused on developing a method for generating pace patterns that rely on analytical formulas and recursive algorithmic procedures, which can be easily implemented on the robot's on-board computer or… (More)