Path Tracking Based on Closed-Loop Control for a Quadruped Robot in a Cluttered Environment

2002 ◽  
Vol 124 (2) ◽  
pp. 272-280 ◽  
Author(s):  
Xuedong Chen ◽  
Keigo Watanabe ◽  
Kazuo Kiguchi ◽  
Kiyotaka Izumi
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Dead Reckoning ◽  
Static Stability ◽  
Quadruped Robot ◽  
Path Tracking ◽  
Closed Loop Control ◽  
Loop Control ◽  
Cluttered Environment ◽  
Walking Environment

In this paper, the path tracking control is studied for a quadruped robot, named TITAN-VIII, walking in a cluttered environment. A simple and efficient algorithm of path planning is proposed, which is characterized by finding turning-point in the walking environment for the robot. The generalized gait algorithm based on the static stability is presented for the continuous and omnidirectional crawl of the robot. Especially, the real-time robot localization in the walking environment, which is the key to the settlement of the path tracking control, is realized by dead-reckoning for the quadruped robot. Based on the above work, we design the closed-loop control architecture so that the robot is able to track the desired path in an obstacle-strewn environment. The reliability and effectiveness of the proposed method is demonstrated through the experimental results.

Periodic, Multi-Step Tracking Control for a Weather Satellite Scanning Mirror1

1999 ◽  
Vol 123 (1) ◽  
pp. 85-92
Author(s):  
Hal Broberg ◽  
Paul Lin ◽  
Joe Predina
Keyword(s):  
Tracking Control ◽  
Peak Power ◽  
Closed Loop ◽  
Time Interval ◽  
Closed Loop Control ◽  
Automated Manufacturing ◽  
Loop Control ◽  
Pointing Error ◽  
Pointing Accuracy ◽  
Scan Pattern

Weather satellite scan mirror performance often demands high pointing accuracy, rapid reposition times, and low peak power consumption. This work addresses and compares various techniques for optimizing these specific performances when the scan pattern is repetitive. We find that a technique combining open and closed-loop control in a timed sequence can often lead to the lowest pointing error in the shortest time interval while minimizing peak power. The technique applies equally well to applications such as robotics, automated manufacturing or any other electromechanical control system where quick, accurate response is needed while minimizing peak power.

Design on Electrostatic Precipitator Control System

2014 ◽  
Vol 536-537 ◽  
pp. 1166-1169
Author(s):  
Yu Liu ◽  
Shi Qi Wei ◽  
Xiao Xu Gu ◽  
Sen Lei Zhao ◽  
Bin Yu Wang
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Electrostatic Precipitator ◽  
Control Method ◽  
Voltage Regulator ◽  
Closed Loop Control ◽  
Loop Control ◽  
Three Phase ◽  
Circuit Power

This paper describes the frequency electrostatic dust-phase power design, triggered by SCR phase control method to achieve closed-loop control of three-phase AC voltage regulator of the main circuit, designed three fold spark for spark control tracking control algorithm. Electrostatic precipitator and main circuit power supply is simulated, and the main circuit parameters were calculated, the results show that the system can be better used in industrial environments dust.

The Impact of Visual Feedback Type on the Mastery of Visuo-Motor Transformations

2012 ◽  
Vol 220 (1) ◽  
pp. 3-9 ◽  
Author(s):  
Sandra Sülzenbrück
Keyword(s):  
Empirical Research ◽  
Visual Feedback ◽  
Closed Loop ◽  
Motor Planning ◽  
Visual Input ◽  
Closed Loop Control ◽  
Loop Control ◽  
Feedback Type ◽  
Effective Use ◽  
The Impact

For the effective use of modern tools, the inherent visuo-motor transformation needs to be mastered. The successful adjustment to and learning of these transformations crucially depends on practice conditions, particularly on the type of visual feedback during practice. Here, a review about empirical research exploring the influence of continuous and terminal visual feedback during practice on the mastery of visuo-motor transformations is provided. Two studies investigating the impact of the type of visual feedback on either direction-dependent visuo-motor gains or the complex visuo-motor transformation of a virtual two-sided lever are presented in more detail. The findings of these studies indicate that the continuous availability of visual feedback supports performance when closed-loop control is possible, but impairs performance when visual input is no longer available. Different approaches to explain these performance differences due to the type of visual feedback during practice are considered. For example, these differences could reflect a process of re-optimization of motor planning in a novel environment or represent effects of the specificity of practice. Furthermore, differences in the allocation of attention during movements with terminal and continuous visual feedback could account for the observed differences.

118-LB: Glucose Variability throughout the Menstrual Cycle on Closed-Loop Control in Type 1 DM

Diabetes ◽  
2019 ◽  
Vol 68 (Supplement 1) ◽  
pp. 118-LB
Author(s):  
CAROL J. LEVY ◽  
GRENYE OMALLEY ◽  
SUE A. BROWN ◽  
DAN RAGHINARU ◽  
YOGISH C. KUDVA ◽  
...  
Keyword(s):  
Menstrual Cycle ◽  
Closed Loop ◽  
Glucose Variability ◽  
Closed Loop Control ◽  
Loop Control ◽  
Type 1 Dm

101-LB: Eighteen-Month Use of Closed-Loop Control (CLC): A Randomized, Controlled Trial

Diabetes ◽  
2020 ◽  
Vol 69 (Supplement 1) ◽  
pp. 101-LB
Author(s):  
SUE A. BROWN ◽  
DAN RAGHINARU ◽  
BRUCE A. BUCKINGHAM ◽  
YOGISH C. KUDVA ◽  
LORI M. LAFFEL ◽  
...  
Keyword(s):  
Randomized Controlled Trial ◽  
Closed Loop ◽  
Controlled Trial ◽  
Closed Loop Control ◽  
Loop Control ◽  
Randomized Controlled
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