Cooperative Path Planning for a Heterogeneous Robotic System Composed of a Humanoid Robot and a Wheel Robot

2008 ◽  
Author(s):  
Andre M. Santana ◽  
Adelardo A.D. Medeiros
Keyword(s):  
Path Planning ◽  
Humanoid Robot ◽  
Robotic System

Path optimization for navigation of a humanoid robot using hybridized fuzzy-genetic algorithm

2019 ◽  
Vol 7 (3) ◽  
pp. 112-119 ◽  
Author(s):  
Asita Kumar Rath ◽  
Dayal R. Parhi ◽  
Harish Chandra Das ◽  
Priyadarshi Biplab Kumar ◽  
Manoj Kumar Muni ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Fuzzy Logic ◽  
Path Planning ◽  
Humanoid Robot ◽  
Fuzzy Logic Controller ◽  
Target Location ◽  
Target Position ◽  
Content Type ◽  
Hybrid Controller ◽  
Fuzzy Genetic

Purpose Humanoids have become the center of attraction for many researchers dealing with robotics investigations by their ability to replace human efforts in critical interventions. As a result, navigation and path planning has emerged as one of the most promising area of research for humanoid models. In this paper, a fuzzy logic controller hybridized with genetic algorithm (GA) has been proposed for path planning of a humanoid robot to avoid obstacles present in a cluttered environment and reach the target location successfully. The paper aims to discuss these issues. Design/methodology/approach Here, sensor outputs for nearest obstacle distances and bearing angle of the humanoid are first fed as inputs to the fuzzy logic controller, and first turning angle (TA) is obtained as an intermediate output. In the second step, the first TA derived from the fuzzy logic controller is again supplied to the GA controller along with other inputs and second TA is obtained as the final output. The developed hybrid controller has been tested in a V-REP simulation platform, and the simulation results are verified in an experimental setup. Findings By implementation of the proposed hybrid controller, the humanoid has reached its defined target position successfully by avoiding the obstacles present in the arena both in simulation and experimental platforms. The results obtained from simulation and experimental platforms are compared in terms of path length and time taken with each other, and close agreements have been observed with minimal percentage of errors. Originality/value Humanoids are considered more efficient than their wheeled robotic forms by their ability to mimic human behavior. The current research deals with the development of a novel hybrid controller considering fuzzy logic and GA for navigational analysis of a humanoid robot. The developed control scheme has been tested in both simulation and real-time environments and proper agreements have been found between the results obtained from them. The proposed approach can also be applied to other humanoid forms and the technique can serve as a pioneer art in humanoid navigation.

Path Planning for Origami Carton Folding With a Multi-Fingered Robotic System

2007 ◽  
Author(s):  
Wei Yao ◽  
Jian S. Dai
Keyword(s):  
Path Planning ◽  
Configuration Space ◽  
Robotic System ◽  
Test Rig ◽  
Packaging System ◽  
Mechanism Model ◽  
Planning Algorithm ◽  
Path Planning Algorithm ◽  
Equivalent Mechanism ◽  
Robotic Fingers

This paper investigates the algorithm of origami carton folding with a multi-fingered robotic carton-packaging system. The equivalent mechanism structure of origami cartons is developed by modeling carton boards as links and creases as revolution joints. The trajectories of carton folding are analyzed by the mechanism model. Particularly the vertex of the carton is identified as a spherical linkage. A path planning algorithm is then generated based on the trajectory that is passed on to the tip of a five-bar robotic finger and the finger configuration space is identified. A test rig with two robotic fingers was developed to demonstrate the principle.

scholarly journals Efficient Path Planning of a High DOF Multibody Robotic System using Adaptive RRT

2015 ◽  
Vol 21 (3) ◽  
pp. 257-264 ◽  
Author(s):  
Dong-Hyung Kim ◽  
Youn-Sung Choi ◽  
Rui-Jun Yan ◽  
Lu-Ping Luo ◽  
Ji Yeong Lee ◽  
...  
Keyword(s):  
Path Planning ◽  
Robotic System

Sliding mode nonlinear disturbance observer-based adaptive back-stepping control of a humanoid robotic dual manipulator

Robotica ◽  
2018 ◽  
Vol 36 (11) ◽  
pp. 1728-1742 ◽  
Author(s):  
Keqiang Bai ◽  
Xuantao Gong ◽  
Sihai Chen ◽  
Yingtong Wang ◽  
Zhigui Liu
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Humanoid Robot ◽  
Sliding Mode ◽  
Asymptotic Optimality ◽  
Robotic System ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Nonlinear Disturbance ◽  
Dual Arm

SUMMARYAn adaptive back-stepping sliding mode controller (ABSMC) algorithm was developed for nonlinear uncertain systems based on a nonlinear disturbance observer (NDO). The developed ABSMC was applied to attitude control for the dual arm of a humanoid robot. Considering the system uncertainty and the unknown external disturbances, the ABSMC scheme was designed to eliminate the chattering phenomenon in the traditional sliding mode control and to reduce the tracking error closer to zero. The ABSMC algorithm solved problems related to the chattering of the system for both uncertainties and disturbances in the humanoid robotic system with an NDO in a two-dimensional environment. The algorithm was designed to work equally well with agents, with higher degrees of freedom in different applications. The method was appropriate for improving tracking performance. The ABSMC algorithm guaranteed global stability and improved the dynamic performance of the system. The algorithm inherited a low computational cost, probabilistic completeness, and asymptotic optimality from the fuzzy sliding mode control. This algorithm has a practical application in the dual arm of a humanoid robot with a circular trajectory. This paper showed the effectiveness and applicability of the proposed methods, which reduced the output of the controller and improved the control performance of the humanoid robotic system. The new combined control algorithm, ABSMC, was able to feasibly and efficiently weaken the chattering on the robot's closed-loop paths, starting and finishing at the same configuration.

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