Advanced Control of Wheeled Inverted Pendulum Systems, Zhijun Li; Chenguang Yang; Liping Fan

Автор: H?ctor . M Becerra
Название: Visual Control of Wheeled Mobile Robots
ISBN: 3319057820 ISBN-13(EAN): 9783319057828
Издательство: Springer
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Цена: 18284.00 р.
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Описание: Vision-based control of wheeled mobile robots is an interesting field of research from a scientific and even social point of view due to its potential applicability. This book presents a formal treatment of some aspects of control theory applied to the problem of vision-based pose regulation of wheeled mobile robots.

Автор: H?ctor . M Becerra; Carlos Sag??s
Название: Visual Control of Wheeled Mobile Robots
ISBN: 331935907X ISBN-13(EAN): 9783319359076
Издательство: Springer
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Цена: 14365.00 р.
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Описание: Vision-based control of wheeled mobile robots is an interesting field of research from a scientific and even social point of view due to its potential applicability. This book presents a formal treatment of some aspects of control theory applied to the problem of vision-based pose regulation of wheeled mobile robots.

Автор: Dietrich
Название: Whole-Body Impedance Control of Wheeled Humanoid Robots
ISBN: 331940556X ISBN-13(EAN): 9783319405568
Издательство: Springer
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Цена: 15672.00 р.
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Описание: Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment.After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR).The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.

Автор: Warren E. Dixon; Darren M. Dawson; Erkan Zergerogl
Название: Nonlinear Control of Wheeled Mobile Robots
ISBN: 1852334142 ISBN-13(EAN): 9781852334147
Издательство: Springer
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Цена: 16979.00 р.
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Описание: This text examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined using Lyapunov techniques. The performance of each controller is either illustrated through simulation results or experimental results.