Page 23 - ASME DSCC 2015 Program

Technical Program

Velocity Control of a Cylindrical Rolling Robot by Surface-Morphing A uniform Control for Tracking and Point to Point Stabilization of
Contributed regular paper. DSCC2015-9783 differential drive robots Subject to hard Input constraints
Michael Puopolo, Jamey Jacob, Oklahoma State University, Stillwater, OK, Contributed regular paper. DSCC2015-9925
United States Amin Zeiaee, Rana Soltani Zarrin, Reza langari, Texas A&M University,
College Station, TX, United States, Suhada Jayasuriya, Drexel University,
Velocity Control of a Cylindrical Rolling Robot by Surface-Morphing
Philadelphia, PA, United States
Spring-Mass Walking With ATRIAS in 3D: Robust Gait Control Spanning
This paper develops a unified framework for point stabilization and tracking
Zero to 4.3 KPH on a Heavily underactuated Bipedal Robot
control of differential drive robots under hard input constraints. The pro-
Contributed regular paper. DSCC2015-9899
posed control strategy is based on the recently introduced Pointwise Angle
Siavash Rezazadeh, Christian Hubicki, Mikhail Jones, Andrew Peekema, Minimization method and addresses the steering problem by studying a
Johnathan Van Why, Andy Abate, Jonathan Hurst, Oregon State robot’s achievable directions of motion considering the constraints imposed
University, Corvallis, OR, United States
on it. To illustrate the strength of the proposed framework, a new control
We present a reduced-order approach for robust, dynamic, and efficient problem which combines the posture stabilization and tracking control is
bipedal locomotion control, culminating in 3D balancing and walking studied. The problem of interest is steering a constrained-input mobile robot
with ATRIAS, a heavily underactuated legged robot. These results are a from an initial point towards a final point on a desired trajectory while regu-
development toward solving a number of enduring challenges in bipedal lating the robot’s heading such that the control convergence is guaranteed
locomotion: achieving robust 3D gaits at various speeds and transitioning within the admissible input space. Inspired by the geometry of sliding mode
between them, all while minimally draining on-board energy supplies. Our control, this paper proposes a new control strategy for this problem. The
reduced-order control methodology works by extracting and exploiting stability of the closed loop system under the proposed steering scheme is
general dynamical behaviors from the spring-mass model of bipedal walk- proved by Lyapunov analysis for the shortest path trajectory and generaliza-
ing. When implemented on a robot with spring-mass passive dynamics, e.g. tion to the case of arbitrarily chosen desired trajectory has been proposed.
ATRIAS, this controller is sufficiently robust to balance while subjected to Finally, effectiveness of the discussed control strategies are illustrated by
pushes, kicks, and successive dodgeball strikes. The controller further al- several simulation results.
lowed smooth transitions between stepping in place and walking at a variety
Robotic Cat free fall: Semi-flat Path Planning and neural network
of speeds (up to 1.2 m/s). The resulting gait dynamics also match qualitatively
Model Based Adaptive Control
to the reduced-order model, and additionally, measurements of human
Contributed regular paper. DSCC2015-9955
walking. We argue that the presented locomotion performance is compelling
evidence of the effectiveness of the presented approach; both the control Seyedmohammadhadi Sadati, King’s College London, London, United
Kingdom, Ali Meghdari, Sharif University of Tech, Tehran, Iran
concepts and the practice of building robots with passive dynamics to
accommodate them. Dynamic of a cat free fall, as it twists its body and lands on four legs, is
interesting to be studied and can be a source of inspiration in robotics and
Simultaneous Stabilization of Pitch and Yaw of a Gliding Robotic fish
using Sliding Mode Control aerospace research. In this paper, kinematic and dynamic equations of
this maneuver are derived using quaternions for a simple two-link model,
Contributed regular paper. DSCC2015-9914
a three-link model with tail, and a more complete eight-link model with the
Maria castano, xiaobo Tan, Michigan State University, East Lansing, MI, addition of legs. The system semi-flat kinematic equations are derived and
United States
an optimization based path planning approach using discrete direct single
Oceanic sustainability has been a growing global concern due to the shooting method is presented in the presence of geometric, kinematic and
increase of potential threats to the integrity of aquatic ecosystems. As a dynamic constraints. We showed the maneuver performance improves in
result more attention has been paid to the monitoring of such environments, the presence of tail while there is no considerable advantage in the legs
leading to the need for autonomous aquatic robots that are capable of motion. To compensate the uncertainties of the model, an extended Kalman
monitoring them in an efficient and accurate manner. A gliding robotic fish filter in combination to an off-line model-based neural network identification
is a type of underwater robot that stems from combining the energy- method is used. Then a model-based neural network controller is proposed
efficient underwater glider with the highly maneuverable robotic fish. For to satisfy the control purpose. The methods stability and performance are
accurate trajectory control and precise sensor measurement, stabilization investigated numerically. Finally, the model parameters are optimized to
of both pitch and yaw during gliding is of great importance. In this paper we improve the maneuver performance and the advantageous of light and
propose a multi-input-multi-output sliding mode controller for simultaneous symmetric body design is shown. The model is verified in comparison to a
stabilization of pitch and yaw. In this design, the outputs of both actuators, simulation in MSC.ADAMS software.
tail angle and center of gravity, are determined by the errors in both pitch
and yaw. The effectiveness of the proposed approach is demonstrated via
simulation with comparison to several alternative designs, including a pair
of sliding mode controllers dealing with yaw and pitch separately, and a PI
controller.

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