Online generation of stable gait for biped robots with feedback loop algorithm

2005 ◽  
Author(s):  
K. Kondak ◽  
G. Hommel
Keyword(s):  
Feedback Loop ◽  
Biped Robots ◽  
Stable Gait

A study of the use of fuzzy control theory to stabilize the gait of biped robots

Robotica ◽  
2014 ◽  
Vol 34 (4) ◽  
pp. 777-790 ◽  
Author(s):  
Hai-Wu Lee
Keyword(s):  
Fuzzy Control ◽  
Fuzzy Controller ◽  
Linear Quadratic Regulator ◽  
Biped Robot ◽  
Linear Quadratic ◽  
Biped Robots ◽  
Control Rules ◽  
Lqr Controller ◽  
Stable Gait ◽  
Differential Control

SUMMARYThis paper designs a biped robot to perform appropriate walking exercises according to the terrain, which then walks stably on a flat environment. The concept of fuzzy logic is combined with the Linear Quadratic Regulator (LQR) controller theory to design the best method to allow the biped robot system to have a balanced and stable gait. Traditional controllers are designed using mathematical models of physical systems, but a fuzzy controller is a physical system that uses an inexact mathematical model, which involves sets and membership functions. Fuzzy controllers use fuzzification, fuzzy control rules, and defuzzification. The method and theory of control: A stable gait for robots is achieved using inverse kinematics, fuzzy concepts, the LQR controller theory, path design, and the characteristics of a dynamic equation. It is then simulated using mathematical tools to prove that the system eliminates swinging by biped robots without fuzzy control knowing beforehand the dynamic model the system is using. Proportional-Integral-Differential control achieves a stable gait design in a flat environment.

Novel players fine-tune plant trade-offs

2015 ◽  
Vol 58 ◽  
pp. 83-100 ◽  
Author(s):  
Selena Gimenez-Ibanez ◽  
Marta Boter ◽  
Roberto Solano
Keyword(s):  
Ubiquitin Ligase ◽  
Feedback Loop ◽  
Molecular Level ◽  
26S Proteasome ◽  
Signalling Molecules ◽  
Transcriptional Reprogramming ◽  
Trade Offs ◽  
Jaz Proteins ◽  
Regulatory Feedback Loop ◽  
Fine Tune

Jasmonates (JAs) are essential signalling molecules that co-ordinate the plant response to biotic and abiotic challenges, as well as co-ordinating several developmental processes. Huge progress has been made over the last decade in understanding the components and mechanisms that govern JA perception and signalling. The bioactive form of the hormone, (+)-7-iso-jasmonyl-l-isoleucine (JA-Ile), is perceived by the COI1–JAZ co-receptor complex. JASMONATE ZIM DOMAIN (JAZ) proteins also act as direct repressors of transcriptional activators such as MYC2. In the emerging picture of JA-Ile perception and signalling, COI1 operates as an E3 ubiquitin ligase that upon binding of JA-Ile targets JAZ repressors for degradation by the 26S proteasome, thereby derepressing transcription factors such as MYC2, which in turn activate JA-Ile-dependent transcriptional reprogramming. It is noteworthy that MYCs and different spliced variants of the JAZ proteins are involved in a negative regulatory feedback loop, which suggests a model that rapidly turns the transcriptional JA-Ile responses on and off and thereby avoids a detrimental overactivation of the pathway. This chapter highlights the most recent advances in our understanding of JA-Ile signalling, focusing on the latest repertoire of new targets of JAZ proteins to control different sets of JA-Ile-mediated responses, novel mechanisms of negative regulation of JA-Ile signalling, and hormonal cross-talk at the molecular level that ultimately determines plant adaptability and survival.

Inhibitory Feedback Loop Induces Anticipated Synchronization in Neuronal Networks

2014 ◽  
Vol 1 ◽  
pp. 636-639
Author(s):  
Fernanda S. Matias ◽  
Pedro V. Carelli ◽  
Claudio R. Mirasso ◽  
Mauro Copelli
Keyword(s):  
Feedback Loop ◽  
Neuronal Networks ◽  
Inhibitory Feedback
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