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Journal articles on the topic 'Robot control algorithm'

Author: Grafiati

Published: 5 June 2025

Last updated: 15 July 2025

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1

Suwarno, Iswanto, Wiwin A. Oktaviani, Yosi Apriani, Dhiya Uddin Rijalusalam, and Anish Pandey. "Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot." Journal of Robotics and Control (JRC) 3, no. 1 (2022): 107–14. http://dx.doi.org/10.18196/jrc.v3i1.11528.

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The disinfection robot is a virus-sterilizing robot that uses a nonholonomic robot model. Route planning algorithms are needed to allow disinfection robots to sterilize rooms in unknown areas and perform the task while navigating using a potential field algorithm. There is a problem applying the algorithm to nonholonomic robots: avoiding obstacles. The proposed route planning algorithm has been transformed into a potential force used to plan the path of disinfection robots in static and dynamic environments and environments with static obstacles. A potential field algorithm is used. There are

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Issa, Bayadir, and Abdulmuttalib Rashid. "Two Algorithms For Static Polygon Shape Formation Control." 3D SCEEER Conference sceeer, no. 3d (2020): 53–58. http://dx.doi.org/10.37917/ijeee.sceeer.3rd.8.

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This paper provides a two algorithms for designing robust formation control of multiple robots called Leader- Neighbor algorithm and Neighbor-Leader algorithm in unknown environment. The main function of the robot group is to use the RP lidar sensor attached to each robot to form a static geometric polygon. The algorithms consist of two phases implemented to investigate the formation of polygon shape. In the leading- neighbor algorithm, the first stage is the leader alignment and the adjacent alignment is the second stage. The first step uses the information gathered by the main RP Lidar senso

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Wyrwał, Daniel, and Tymoteusz Lindner. "Control algorithm for holonomic robot that balances on single spherical wheel." MATEC Web of Conferences 252 (2019): 02005. http://dx.doi.org/10.1051/matecconf/201925202005.

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This paper presents the control algorithm for the new type of robot that balances on a single spherical wheel. This type of robot is called Ballbot and unlike other statically stable robots, it has a high gravity centre and a very small footprint. The robot is dynamically stable, which means that if the controller stops working, the entire construction will fall over. Because of that, it needs a special control algorithm to keep the balance. The presented Ballbot is fitted with sensors such as gyroscope and accelerometer and controls motors with omni-directional wheels to move the robot in any

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Tang, Qing. "Localization and tracking control for mobile welding robot." Industrial Robot: An International Journal 41, no. 3 (2014): 259–65. http://dx.doi.org/10.1108/ir-07-2013-377.

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Purpose – The purpose of this paper is to design the localization and tracking algorithms for our mobile welding robot to carry out the large steel structure welding operations in industrial environment. Design/methodology/approach – Extended Kalman filter, considering the bicycle-modeled robot, is adopted in the localization algorithm. The position and orientation of our mobile welding robot is estimated using the feedback of the laser sensor and the robot motion commands history. A backstepping variable is involved in the tracking algorithm. By introducing a specifically selected Lyapunov fu

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Gao, Mingyu, Da Chen, Yuxiang Yang, and Zhiwei He. "A fixed-distance planning algorithm for 6-DOF manipulators." Industrial Robot: An International Journal 42, no. 6 (2015): 586–99. http://dx.doi.org/10.1108/ir-04-2015-0077.

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Purpose – The purpose of this paper is to propose a new trajectory planning algorithm for industrial robots, which can let the robots move through a desired spatial trajectory, avoid colliding with other objects and achieve accurate movements. Trajectory planning algorithms are the soul of motion control of industrial robots. A predefined space trajectory can let the robot move through the desired spatial coordinates, avoid colliding with other objects and achieve accurate movements. Design/methodology/approach – The mathematical expressions of the proposed algorithm are deduced. The speed con

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Peng, Huan Xin, Bin Liu, and De Hong Xu. "Robot Flocking Control with Part Information of the Virtual Leader." Applied Mechanics and Materials 364 (August 2013): 352–56. http://dx.doi.org/10.4028/www.scientific.net/amm.364.352.

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Under virtual leader-follower model, when all robots can receive the information of the virtual leader, the robot flocking algorithm can avoid diverging. For time-delay, noise and network congestion in the communication, in the fact, only part robots can receive the information of the virtual leader. In the paper, we analyze the performance of robot flocking control algorithm with part information of the virtual leader. We analyze the impact brought by the parameters on the robot flocking control when only part robots can receive the information of the virtual leader, and simulations are done.

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Szeląg, Piotr, Sebastian Dudzik, and Anna Podsiedlik. "Investigation on the Mobile Wheeled Robot in Terms of Energy Consumption, Travelling Time and Path Matching Accuracy." Energies 16, no. 3 (2023): 1210. http://dx.doi.org/10.3390/en16031210.

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The task of controlling a wheeled mobile robot is an important element of navigation algorithms. The control algorithm manages the robot’s movement in accordance with the path determined by the planner module, where the accuracy of mapping the given route is very important. Most often, mobile robots are battery-powered, which makes minimizing energy consumption and shortening travel time an important issue. For this reason, in this work, the mobile robot control algorithm was tested in terms of energy consumption, travel time and path mapping accuracy. During the research, a criterion was deve

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Liu, Peter Xiaoping, Max Q.-H. Meng, and Jason J. Gu. "Intelligent Scaling Control for Internet-Based Teleoperation." Journal of Advanced Computational Intelligence and Intelligent Informatics 8, no. 3 (2004): 275–83. http://dx.doi.org/10.20965/jaciii.2004.p0275.

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In this paper we present an intelligent scaling control algorithm, which is based on the hierarchical decomposition and dynamic assignment of tasks between the human operator and the on-board controller of the remote robot, for mobile robot teleoperation over the Internet. This control scheme relies on the real-time estimation of concurrent roundtrip delays in order to assign tasks between the user and the robot optimally. For this purpose, we employ a linear neural network for which most conventional learning algorithms are infeasible since their required computation is usually too intensive

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Guan, Wei, Lan Zhou, and YouShen Cao. "Joint Motion Control for Lower Limb Rehabilitation Based on Iterative Learning Control (ILC) Algorithm." Complexity 2021 (January 28, 2021): 1–9. http://dx.doi.org/10.1155/2021/6651495.

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At present, the motion control algorithms of lower limb exoskeleton robots have errors in tracking the desired trajectory of human hip and knee joints, which leads to poor follow-up performance of the human-machine system. Therefore, an iterative learning control algorithm is proposed to track the desired trajectory of human hip and knee joints. In this paper, the experimental platform of lower limb exoskeleton rehabilitation robot is built, and the control system software and hardware design and robot prototype function test are carried out. On this basis, a series of experiments are carried

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Luo, Chengming, Shuai Zhang, Jing Zhong, et al. "Design and Evaluation of Field Segmentation, Path Generation and Sequential Point Tracking Algorithms for Agricultural Mobile Robots." Journal of the ASABE 67, no. 4 (2024): 983–93. http://dx.doi.org/10.13031/ja.15599.

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Highlights Field segmentation, path generation, and sequential point tracking algorithms were designed for agricultural mobile robots. An optimized field segmentation plan and operation path could be generated for the robot. The sequential point tracking algorithm could guide the robot to a series of target points. The algorithms were tested in simulation calculations and practical experiments. Abstract. As agricultural production becomes increasingly intelligent, operations by autonomous mobile robots become an inevitable trend. For some operations, such as in-field soil sampling, agricultura

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Bae, Beomsu, and Dong-Hyun Lee. "Design of a Four-Wheel Steering Mobile Robot Platform and Adaptive Steering Control for Manual Operation." Electronics 12, no. 16 (2023): 3511. http://dx.doi.org/10.3390/electronics12163511.

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The recent advancementsin autonomous driving technology have led to an increased utilization of mobile robots across various industries. Notably, four-wheel steering robots have gained significant attention due to their robustness and agile maneuvering capabilities. This paper presents a novel four-wheel steering robot platform for research purposes and an adaptive four-wheel steering control algorithm for efficient manual operation. The proposed robot platform is specifically designed as a simple and compact research-oriented platform for developing navigation and manual operation of four-whe

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Chen, Xiang Hua, and Juan Zhou. "Real-Time Trajectory Control of Robots Omnidirectional Mobile Obstacle Avoidance." Applied Mechanics and Materials 571-572 (June 2014): 1068–75. http://dx.doi.org/10.4028/www.scientific.net/amm.571-572.1068.

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On the basis of Dick Stella algorithm and Bessel Curve, this paper proposes an improved algorithm for real-time obstacle avoidance control of mobile robots. With strong robustness, this algorithm can effectively solve the problem of robot path planning and tracking while meeting the dynamic constraint conditions. The simulation results show that the improved algorithm shortens the robot moving period and remarkably improves the motion planning in robot obstacle avoidance.

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Sulistijono, Indra Adji, Son Kuswadi, One Setiaji, Inzar Salfikar, and Naoyuki Kubota. "A Study on Fuzzy Control of Humanoid Soccer Robot EFuRIO for Vision Control System and Walking Movement." Journal of Advanced Computational Intelligence and Intelligent Informatics 16, no. 3 (2012): 444–52. http://dx.doi.org/10.20965/jaciii.2012.p0444.

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Instability is one of the major defects in humanoid robots. Recently, various methods on the stability and reliability of humanoid robots have been studied actively. We propose a new fuzzy-logic control scheme for vision systems that would enable a robot to search for and to kick a ball towards an opponent goal. In this paper, a stabilization algorithm is proposed using the balance condition of the robot, which is measured using accelerometer sensors during standing and walking, and turning movement are estimated from these data. From this information the robot selects the appropriate motion p

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Xu, Yiqi, Qiongqiong Li, Xuan Xu, Jiafu Yang, and Yong Chen. "Research Progress of Nature-Inspired Metaheuristic Algorithms in Mobile Robot Path Planning." Electronics 12, no. 15 (2023): 3263. http://dx.doi.org/10.3390/electronics12153263.

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The research of mobile robot path planning has shifted from the static environment to the dynamic environment, from the two-dimensional environment to the high-dimensional environment, and from the single-robot system to the multi-robot system. As the core technology for mobile robots to realize autonomous positioning and navigation, path-planning technology should plan collision-free and smooth paths for mobile robots in obstructed environments, which requires path-planning algorithms with a certain degree of intelligence. Metaheuristic algorithms are widely used in various optimization probl

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Eudes, Alexandre, Sylvain Bertrand, Julien Marzat, and Ioannis Sarras. "Distributed Control for Multi-Robot Interactive Swarming Using Voronoi Partioning." Drones 7, no. 10 (2023): 598. http://dx.doi.org/10.3390/drones7100598.

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The problem of safe navigation of a human-multi-robot system is addressed in this paper. More precisely, we propose a novel distributed algorithm to control a swarm of unmanned ground robots interacting with human operators in presence of obstacles. Contrary to many existing algorithms that consider formation control, the proposed approach results in non-rigid motion for the swarm, which more easily enables interactions with human operators and navigation in cluttered environments. Each vehicle calculates distributively and dynamically its own safety zone in which it generates a reference poin

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Nemec, Bojan, Leon Žlajpah, and Damir Omrčen. "Comparison of null-space and minimal null-space control algorithms." Robotica 25, no. 5 (2007): 511–20. http://dx.doi.org/10.1017/s0263574707003402.

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SUMMARYThis paper deals with the stability of null-space velocity control algorithms in extended operational space for redundant robots. We compare the performance of the control algorithm based on the minimal null-space projection and generalized-inverse-based projection into the Jacobian null-space. We show how the null-space projection affects the performance of the null-space tracking algorithm. The results are verified with the simulation and real implementation on a redundant mobile robot composed of 3 degrees of freedom (DOFs) mobile platform and 7-DOF robot arm.

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Mohd, Razali Mohamad Sapiee, and Azha Mohd Annuar Khalil. "Synchronous Mobile Robots Formation Control." TELKOMNIKA Telecommunication, Computing, Electronics and Control 16, no. 3 (2018): 1183–92. https://doi.org/10.12928/TELKOMNIKA.v16i3.8397.

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Synchronous mobile robots formation control is one of the most challenging and interesting fields in robotics. The mobile robots communicate with each other through wireless communication to perform similar movement. This study analyzed two mobile robots that can perform synchronous movement along a shaped path. A square shape is set as a path for the mobile robot movements. The front robot being the leading robot transmits the instruction of its movement to the robot b ehind it, acting as the following robot through a wireless communication. The instruction sent by the leading robot is receiv

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18

Iscen, Atil, Ken Caluwaerts, Jonathan Bruce, Adrian Agogino, Vytas SunSpiral, and Kagan Tumer. "Learning Tensegrity Locomotion Using Open-Loop Control Signals and Coevolutionary Algorithms." Artificial Life 21, no. 2 (2015): 119–40. http://dx.doi.org/10.1162/artl_a_00163.

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Soft robots offer many advantages over traditional rigid robots. However, soft robots can be difficult to control with standard control methods. Fortunately, evolutionary algorithms can offer an elegant solution to this problem. Instead of creating controls to handle the intricate dynamics of these robots, we can simply evolve the controls using a simulation to provide an evaluation function. In this article, we show how such a control paradigm can be applied to an emerging field within soft robotics: robots based on tensegrity structures. We take the model of the Spherical Underactuated Plane

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She, Minghong, and Liyu Tian. "A Novel Path Control Algorithm for Networked Underwater Robot." Journal of Robotics 2018 (July 2, 2018): 1–7. http://dx.doi.org/10.1155/2018/1520981.

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Under the network environment, the traditional control method of underwater Robot path has the disadvantages of low control accuracy, large error, and inefficiency. This paper proposes a novel path control method for underwater Robots based on the NURBS (nonuniform rational B-spline, NURBS) curve fitting method, which utilizes a sensor or camera to detect the static and dynamic obstacles, establishes the kinematics model of underwater Robots, gets the target function of rob shortest path, and analyzes underwater Robot constraints. According to the basic fluid mechanics, the resistance of the u

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Güzel, Mehmet Serdar, Mehmet Kara, and Mehmet Sıtkı Beyazkılıç. "An adaptive framework for mobile robot navigation." Adaptive Behavior 25, no. 1 (2017): 30–39. http://dx.doi.org/10.1177/1059712316685875.

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Collective behaviours observed in nature bring new methodologies in proposing control algorithms for robot groups to perform a variety of complex tasks. In this article, an adaptive algorithm, allowing the safe navigation of a group of robots in a collective manner, is proposed. The algorithm, inspired from the adaptive particle swarm optimization technique, proposes an efficient control approach to overcome both static and moving obstacles. Accordingly, compared to the conventional particle swarm optimization algorithm, the proposed system allows a robot or group of robots (swarm) to complete

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Zhi, Yonghong, and Yan Jiang. "Design of basketball robot based on behavior-based fuzzy control." International Journal of Advanced Robotic Systems 17, no. 2 (2020): 172988142090996. http://dx.doi.org/10.1177/1729881420909965.

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Aiming at the strong dependence on environmental information in traditional algorithms, the path planning of basketball robots in an unknown environment, and improving the safety of autonomous navigation, this article proposes a path planning algorithm based on behavior-based module control. In this article, fuzzy control theory is applied to the behavior control structure, and these two path planning algorithms are combined to solve the path planning problem of basketball robots in an unknown environment. First, the data of each sensor of the basketball robot configuration are simply fused. T

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Xu, Liang, Liang Zhang, Jinzhou Zhao, and Kiwan Kim. "Cornering Algorithm for a Crawler In-Pipe Inspection Robot." Symmetry 12, no. 12 (2020): 2016. http://dx.doi.org/10.3390/sym12122016.

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Based on the large-scale wall-pressing three-legged crawler pipeline inspection robot, our team proposed a cornering algorithm based on space constraints, that aims to better control the smooth operation of the pipeline robot in the pipeline. This algorithm is aimed at large robots that use an electric telescopic rod structure to replace the elastic structure on traditional small robots. The electric telescopic rod structure meets the large-scale weight change of the robot and provides sufficient supporting force. However, this structure also makes it difficult for the robot to automatically a

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Khanpoor, Asghar, Ali Keymasi Khalaji, and S. Ali A. Moosavian. "Modeling and control of an underactuated tractor–trailer wheeled mobile robot." Robotica 35, no. 12 (2017): 2297–318. http://dx.doi.org/10.1017/s0263574716000886.

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SUMMARYTrajectory tracking is one of the main control problems in the context of Wheeled Mobile Robots (WMRs). Control of underactuated systems has been focused by many researchers during past few years. In this paper, tracking control of a Tractor–Trailer Wheeled Mobile Robot (TTWMR) has been discussed. TTWMR includes a differential drive WMR towing a passive spherical wheeled trailer. Spherical wheels in contrast with standard wheels make the robot highly underactuated with severe non-linearities. Underactuation is due to the use of spherical wheeled trailer to increase robots' maneuverabili

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Zhou, Bin, and Jin Fa Qian. "Obstacle Avoidance Control Method of Mobile Robot Motion." Applied Mechanics and Materials 443 (October 2013): 119–22. http://dx.doi.org/10.4028/www.scientific.net/amm.443.119.

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Mobile robot is an intelligent system which can move freely and is scheduled to complete the task in the working environment. Obstacle avoidance of mobile robot is the research hotspot in the control field of the mobile robot. The mobile robot obstacle avoidance methods are classified, including the traditional algorithms and the intelligent algorithms. This paper summarizes the intelligent algorithm in the mobile robot obstacle avoidance technique in the present situation, and the intelligent algorithm which is the most researched in the current. Finally, this paper prospects the development

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Lei, Bin, and Liang Cai Zeng. "Consensus Algorithm for Swarm Robotics Cooperative Control." Advanced Materials Research 201-203 (February 2011): 1854–57. http://dx.doi.org/10.4028/www.scientific.net/amr.201-203.1854.

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A critical problem for swarm robotics cooperative control is to determine appropriate consensus algorithms so that a group of robots can reach consensus on the values of coordination data. In this paper, we defined the Information Interactive Graph ( IIG ) and the Information Interactive Matrix ( IIM ) to represent the information interaction relationship between each robot based on algebra graph theroy. Proofed the necessary and/or sufficient conditions for consensus and presented some consensus algorithms under static topology. Finally, simulation results showed that our algorithm can make a

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Wu, Shangyu, Xianqing Lei, and Linqi Ye. "Balance Control of an Inverted Pendulum on a Quadruped Robot by Reinforcement Learning." Journal of Physics: Conference Series 2187, no. 1 (2022): 012024. http://dx.doi.org/10.1088/1742-6596/2187/1/012024.

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Abstract When a quadruped robot crosses some uneven terrain, its stability is a very important consideration. In practical applications, it is often difficult for researchers to obtain accurate models of quadruped robot systems and need quadruped robots to complete high-stability tasks. Balancing an inverted pendulum on a quadruped robot is a good way to test their balancing ability, which is of great research and practical value. According to the nonlinear, uncertain, and strong coupling characteristics of the quadruped robot inverted pendulum system, this paper proposes a quadruped robot bal

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Ayas, Mustafa Sinasi, Ismail Hakki Altas, and Erdinc Sahin. "Fractional order based trajectory tracking control of an ankle rehabilitation robot." Transactions of the Institute of Measurement and Control 40, no. 2 (2016): 550–64. http://dx.doi.org/10.1177/0142331216667810.

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Human–robot interaction is inherently available and used actively in ankle rehabilitation robots. This interaction causes disturbances to be counteracted on the rehabilitation robots in order to reduce the side effects. This paper presents a fractional order proportional–integral–derivative controller to improve the trajectory tracking ability of a developed 2-degree of freedom parallel ankle rehabilitation robot subject to external disturbances. The parameters of the controller are optimally tuned by using both the cuckoo search algorithm and the particle swarm optimization algorithm. A tradi

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Jang, Junwon, Soohee Han, Hanjun Kim, Choon Ki Ahn, and Wook Hyun Kwon. "Rapid control prototyping for robot soccer." Robotica 27, no. 7 (2009): 1091–102. http://dx.doi.org/10.1017/s0263574709005505.

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SUMMARYIn this paper, we propose rapid-control prototyping (RCP) for a robot soccer using the SIMTool that has been developed in Seoul National University, Korea, for the control-aided control system design (CACSD). The proposed RCP enables us to carry out the rapid design and the verification of controls for two-wheeled mobile robots (TWMRs), players in the robot soccer, without writing C codes directly and requiring a special H/W. On the basis of the proposed RCP, a blockset for the robot soccer is developed for easy design of a variety of mathematical and logical algorithms. All blocks in t

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Li, Chun Shu, Zhi Hua Yang, Gen Qun Cui, and Bo Jin. "Odor Source Localization Research of Mobile Robots in Indoor Environments." Applied Mechanics and Materials 441 (December 2013): 796–800. http://dx.doi.org/10.4028/www.scientific.net/amm.441.796.

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Aiming at the odor source localization in an obstacle-filled wind-varying indoor environment, a new method based odor source localization algorithm for a single mobile robot is proposed. With the information of the wind and the concentration gradient, Wasps can find odor source in a short time. However, it is very difficult for mobile robots to mimic the behaviors of wasps exactly. So, besides the bionics, BP neural network is adopted for the mobile robot to find the odor source. The control strategies for the plume-tracing mobile robot are proposed which include the intelligent plume-tracing

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Chen, Muji. "Recognition and Localization of Target Images for Robot Vision Navigation Control." Journal of Robotics 2022 (March 24, 2022): 1–12. http://dx.doi.org/10.1155/2022/8565913.

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This paper focuses on a visual navigation control system for mobile robots, recognizing target images and intelligent algorithms for the navigation system’s path tracking and localization techniques. This paper examines the recognition and localization of target images based on the visual navigation control of mobile robots. It proposes an efficient marking line method for recognizing and localization target images. Meanwhile, a fuzzy control method with smooth filtering and high efficiency is designed to improve the stability of robot operation, and the feasibility is verified in different sc

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Kou, Bin, Shijie Guo, and Dongcheng Ren. "A New Method for Identifying Kinetic Parameters of Industrial Robots." Actuators 11, no. 1 (2021): 2. http://dx.doi.org/10.3390/act11010002.

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Identifying the kinetic parameters of an industrial robot is the basis for designing a controller for it. To solve the problems of the poor accuracy and easy premature convergence of common bionic algorithms for identifying the dynamic parameters of such robots, this study proposed simulated annealing with similar exponential changes based on the beetle swarm optimization (SEDSABSO) algorithm. Expressions for the dynamics of the industrial robot were first obtained through the SymPyBotics toolkit in Python, and the required trajectories of excitation were then designed to identify its dynamic

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Xiong, Xiaowei. "Artificial Intelligence Control Algorithm for the Steering Motion of Wheeled Soccer Robot." International Journal of Pattern Recognition and Artificial Intelligence 33, no. 10 (2019): 1959034. http://dx.doi.org/10.1142/s0218001419590341.

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In this paper, the artificial intelligence control algorithm for steering robot of steering wheel is studied. The steering movement of wheeled soccer robot is controlled by artificial intelligence control algorithm, and the steering movement is modeled and simulated. Firstly, the characteristics of artificial neurons are simulated and a similar control model is constructed to complete the simulation of football. The artificial intelligence control algorithm has a dynamic feedback item compared with the traditional intelligent model, which has a better effect on the steering control of the whee

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Rubtsov, V. I., K. J. Mashkov, and K. V. Konovalov. "Multi-Level Control System for an Intelligent Robot that is Part of a Group." Mekhatronika, Avtomatizatsiya, Upravlenie 22, no. 11 (2021): 610–15. http://dx.doi.org/10.17587/mau.22.610-615.

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The article is devoted to the application of a group of robotic complexes for military purposes. The current state of control systems of single robotic complexes does not allow solving all the tasks assigned to the robot. The analysis of methods of controlling a group of robots in combat conditions is carried out. The necessity of using a multi-level control system for an intelligent combat robot is justified. A multi-level control system for an intelligent robot is proposed. Such a system assumes the possibility of controlling the robot in one of four modes: remote, supervisory, autonomous an

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Huang, Lei, Deng Xiang Yang, and Qun Feng Zhu. "The Track-Controlling System for Mobile Greenhouse Robots." Applied Mechanics and Materials 387 (August 2013): 258–61. http://dx.doi.org/10.4028/www.scientific.net/amm.387.258.

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This paper targets on the study of the motion control system for greenhouse robots, and researches into the realization of the linear track control algorithm on robots motion control, demonstrating the feasibility and stability constraint of the algorithms. The author also analyzes the impact of different control parameters on the moving tracks through simulation, then applies the algorithm to the actual robot-controlling, and has designed an effective controlling system for mobile greenhouse robots based on gyroscopes and photoelectric encoder.

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Luo, Yiran. "Analysis of control algorithms for water quality testing robots." Theoretical and Natural Science 26, no. 1 (2023): 241–54. http://dx.doi.org/10.54254/2753-8818/26/20241099.

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The research background of the water quality detection robot lies in effectively monitoring and assessing the quality of water bodies to address the increasingly severe issue of water pollution. This technology, employing advanced sensors and machine learning algorithms, facilitates automated acquisition of water quality data, enabling real-time analysis and reporting of various indicators in the water bodies. Consequently, it provides crucial evidence for safeguarding the environment and human health. This article investigates the problem of posture control in water quality detection robots o

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Muhamediyeva, D. T., and M. Fozilova. "General algorithm for optimal control of moving industrial robots." E3S Web of Conferences 401 (2023): 05058. http://dx.doi.org/10.1051/e3sconf/202340105058.

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Control of robots in changing conditions is complex, and its main reason is, firstly, that the robot changes its manipulative behavior concerning the influence of the external environment, and secondly, that it does not have a clear model of motion. If the motion model is not clear, the control model will not be clear, and it will be difficult to determine the control parameters of the robot. Therefore, to overcome these shortcomings, the article presents a model of the motion of robots moving in changing conditions using mathematical methods and an algorithm for optimal control based on it.

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Nguyen, Van Dong Hai, Xuan-Dung Huynh, Minh-Tam Nguyen, Ionel Cristian Vladu, and Mircea Ivanescu. "Hierarchical Sliding Mode Algorithm for Athlete Robot Walking." Journal of Robotics 2017 (2017): 1–13. http://dx.doi.org/10.1155/2017/6348980.

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Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are discussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical sliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion. Then, a hierarchical sliding mode controller is implemented to control basic posture of athlete robot stepping. Successful simulation results show the motion of athlete robot.

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Nguyen, Ha Xuan, Huy Van Nguyen, Tung Thanh Ngo, and Anh Duy Nguyen. "IMPROVEMENT OF CONTROL ALGORITHM FOR MOBILE ROBOT USING MULTI-LAYER SENSOR FUSION." Vietnam Journal of Science and Technology 59, no. 1 (2021): 110. http://dx.doi.org/10.15625/2525-2518/59/0/15301.

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Mobile robots have received much of attention in the last three decades due to their very high potential of applications such as smart logistics, exploration, and intelligent services. One of important functions of mobile robots is the navigation in which robot must know their location, the maps of environment and perform path planning with obstacle avoidance. In this work, we introduce an improvement of control algorithm for mobile robot using multi-layer sensor fusion toward the target of efficient obstacle avoidance. Based on our method, we used three layers of sensors arranging in three he

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Bobrow, J. E., J. M. McCarthy, and V. K. Chu. "Time-Optimal Control of Two Robots Holding the Same Workpiece." Journal of Dynamic Systems, Measurement, and Control 115, no. 3 (1993): 441–46. http://dx.doi.org/10.1115/1.2899121.

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An algorithm is given which minimizes the time for two robots holding the same workpiece to move along a given path. The unique feature of these systems is that they have more actuators than degrees of freedom. The method can be applied to any constrained robot system, including the case where one robot arm moves in contact with a surface. In addition to finding the optimum torque histories, the algorithm determines the optimum contact force between the each robot and the workpiece throughout the motion. Constraints on these internal forces are easily introduced into the algorithm.

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Pletl, Szilveszter, and Bela Lantos. "Advanced Robot Control Algorithms Based on Fuzzy, Neural and Genetic Methods." Journal of Advanced Computational Intelligence and Intelligent Informatics 5, no. 2 (2001): 81–89. http://dx.doi.org/10.20965/jaciii.2001.p0081.

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Soft computing (fuzzy systems, neural networks and genetic algorithms) can solve difficult problems, especially non-linear control problems such as robot control. In the paper two algorithms have been presented for the nonlinear control of robots. The first algorithm applies a new neural network based controller structure and a learning method with stability guarantee. The controller consists of the nonlinear prefilter, the feedforward neural network and feadback PD controllers. The fast learning algorithm of the neural network is based on Moore-Penrose pseudoinverse technique. The second algo

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Zhang, Feng, Shidong Zhang, Qian Wang, Yujie Yang, and Bo Jin. "Straight Gait Research of a Small Electric Hexapod Robot." Applied Sciences 11, no. 8 (2021): 3714. http://dx.doi.org/10.3390/app11083714.

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Gait is an important research content of hexapod robots. To better improve the motion performance of hexapod robots, many researchers have adopted some high-cost sensors or complex gait control algorithms. This paper studies the straight gait of a small electric hexapod robot with a low cost, which can be used in daily life. The strategy of “increasing duty factor” is put forward in the gait planning, which aims to reduce foot sliding and attitude fluctuation in robot motion. The straight gaits of the robot include tripod gait, quadrangular gait, and pentagonal gait, which can be described con

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Khoi, Phan Bui, and Nguyen Van Toan. "APPLICATION OF FUZZY LOGIC FOR CONTROLLING MECHANISM OF RELATIVE MANIPULATION ROBOT (MRM ROBOT)." Vietnam Journal of Science and Technology 54, no. 3 (2016): 386. http://dx.doi.org/10.15625/0866-708x/54/3/7333.

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In robot control, mathematical equations describing dynamic behaviors of robots are usually complicated. Additionally, the components such as inertial and friction parameters appearing in these equations are very difficult to determine exactly. With robots having complex structure such as parallel robots, MRM robots etc., the derivation of dynamic equations becomes more difficult and sometimes cannot obtain analytically. In those cases, controlling robot based on its equations of motion is quite hard. Applying fuzzy logic for robot control can overcome the mentioned drawbacks. This is because

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Kou, Bin, Yao Huang, Pengpeng Wang, Dongcheng Ren, Jie Zhang, and Shijie Guo. "A New Parameter Identification Method for Industrial Robots with Friction." Machines 10, no. 5 (2022): 349. http://dx.doi.org/10.3390/machines10050349.

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Commonly used intelligent algorithms that are used to identify the parameters of friction of industrial robots have poor accuracy or involve complex coding, which is not conducive to their use in engineering. This paper uses the random wandering simulated annealing-based variable-step beetle antennae search (RWSAVSBAS) algorithm to identify the parameters of friction of industrial robots. The moment of friction of the third joint of the robot is experimentally obtained and used to establish a Stribeck friction model. Following this, the RWSAVSBAS algorithm is used to identify the frictional pa

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Zhang, Guichen, Hongwei Liu, Zihao Qin, Georgy V. Moiseev, and Jianwen Huo. "Research on Self-Recovery Control Algorithm of Quadruped Robot Fall Based on Reinforcement Learning." Actuators 12, no. 3 (2023): 110. http://dx.doi.org/10.3390/act12030110.

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When a quadruped robot is climbing stairs, due to unexpected factors, such as the size of the differing from the international standard or the stairs being wet and slippery, it may suddenly fall down. Therefore, solving the self-recovery problem of the quadruped robot after falling is of great significance in practical engineering. This is inspired by the self-recovery of crustaceans when they fall; the swinging of their legs will produce a resonance effect of a specific body shape, and then the shell will swing under the action of external force, and self-recovery will be achieved by moving t

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Kambayashi, Yasushi, Hideaki Yajima, Tadashi Shyoji, Ryotaro Oikawa, and Munehiro Takimoto. "Formation Control of Swarm Robots Using Mobile Agents." Vietnam Journal of Computer Science 06, no. 02 (2019): 193–222. http://dx.doi.org/10.1142/s2196888819500131.

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In this paper, we propose an algorithm for controlling a fleet of swarm robots that construct three-dimensional forms. The swarm robots coordinate with each other through network communication, and compose formations such as polyhedrons presented as spherical coordinates. Our control algorithm achieves communication through mobile software agents, which introduce control programs to robots that initially have no information about the formation. Mobile software agents are autonomous objects that can migrate from one robot to other robots through a communication network and can deliver control p

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Wang, Zhiheng. "Application of the PID Algorithm in Robot." ITM Web of Conferences 73 (2025): 01025. https://doi.org/10.1051/itmconf/20257301025.

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Under the background of rapid development of science and technology and much attention in the field of robotics, the Vex robot is of great significance in the field of education, but there are difficulties in control. Given that the Proportional-Integral-Derivative (PID) algorithm is widely used in the control field and there are achievements and shortcomings in related research, this paper discusses in depth its application in the control of VEX robots, including the analysis of the mathematical principles of the PID algorithm, the specific operation steps in the practice of programming VEX r

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Ďuriš, Rastislav. "Application of Camera Image Processing to Control of Humanoid Robot Motion." Applied Mechanics and Materials 474 (January 2014): 179–85. http://dx.doi.org/10.4028/www.scientific.net/amm.474.179.

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The wide potential applications of humanoid robots require that the robots can move in general environment, overcome various obstacles, detect predefined objects and control of its motion according to all these parameters. The goal of this paper is address the problem of implementation of computer vision to motion control of humanoid robot. We focus on using of computer vision and image processing techniques, based on which the robot can detect and recognize a predefined color object in a captured image. An algorithm to detection and localization of objects is described. The results obtained f

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Kim, Si-Hyun, Bumjoo Lee, and Young-Dae Hong. "Stability Control and Turning Algorithm of an Alpine Skiing Robot." Sensors 19, no. 17 (2019): 3664. http://dx.doi.org/10.3390/s19173664.

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This paper proposes a general stability control method that uses the concept of zero-moment-point (ZMP) and a turning algorithm with a light detection and ranging (LiDAR) sensor for a bipedal alpine skiing robot. There is no elaborate simulator for skiing robots since the snow has complicated characteristics, such as compression and melting. However, real experiments are laborious because of the many varied skiing conditions. The proposed skiing simulator could be used, so that a humanoid robot can track its desired turning radius by modeled forces that are similar to real ones in the snow. Su

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Xu, Pengjie, Xinyi Chen, and Qirong Tang. "Design and Coverage Path Planning of a Disinfection Robot." Actuators 12, no. 5 (2023): 182. http://dx.doi.org/10.3390/act12050182.

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Eliminating pathogen exposure is an important approach to control outbreaks of epidemics such as COVID-19 (coronavirus disease 2019). To deal with pathogenic environments, using disinfection robots is a practicable choice. This research formulates a 3D (three-dimensional) spatial disinfection strategy for a disinfection robot. First, a disinfection robot is designed with an extensible control framework for the integration of additional functions. The robot has eight degrees of freedom that can handle disinfection tasks in complex 3D environments where normal disinfection robots lack the capabi

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Zhou, Qijie, Gangyang Li, Rui Tang, Yi Xu, Hao Wen, and Qing Shi. "Stable Jumping Control Based on Deep Reinforcement Learning for a Locust-Inspired Robot." Biomimetics 9, no. 9 (2024): 548. http://dx.doi.org/10.3390/biomimetics9090548.

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Biologically inspired jumping robots exhibit exceptional movement capabilities and can quickly overcome obstacles. However, the stability and accuracy of jumping movements are significantly compromised by rapid changes in posture. Here, we propose a stable jumping control algorithm for a locust-inspired jumping robot based on deep reinforcement learning. The algorithm utilizes a training framework comprising two neural network modules (actor network and critic network) to enhance training performance. The framework can control jumping by directly mapping the robot’s observations (robot positio

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