Browsing by Keywords "Robotics"
Now showing items 1-20 of 21
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A 3D dynamic model of a spherical wheeled self-balancing robot
(2012)Mobility through balancing on spherical wheels has recently received some attention in the robotics literature. Unlike traditional wheeled platforms, the operation of such platforms depends heavily on understanding and ... -
Adaptive control design for nonlinear systems via successive approximations
(ASME, 2017)The paper presents an approach to the Model Reference Adaptive Control (MRAC) design for nonlinear dynamical systems. A nonlinear reference system is considered such that its response is designed to be stable via Successive ... -
Adaptive control of a spring-mass hopper
(IEEE, 2011)Practical realization of model-based dynamic legged behaviors is substantially more challenging than statically stable behaviors due to their heavy dependence on second-order system dynamics. This problem is further ... -
Analysis and control of periodic gaits in legged robots
(Bilkent University, 2017-11)The analysis, identi cation and control of legged locomotion have been an interest for various researchers towards building legged robots that move like the animals do in nature. The extensive studies on understanding ... -
An approximate stance map of the spring mass hopper with gravity correction for nonsymmetric locomotions
(IEEE, 2009)The Spring-Loaded Inverted Pendulum (SLIP) model has long been established as an effective and accurate descriptive model for running animals of widely differing sizes and morphologies, while also serving as a basis for ... -
Autonomous navigation of robotic units in mobile sensor network
(2012)This work is motivated by the problem of detecting buried anti-tank and anti-personnel mines in roads or some border regions. The problem is tried to be solved by use of small mobile robotic sensors and their some abilities ... -
Collision resilient foldable micro aerial robot
(Bilkent University, 2019-09)Collision management strategies are integral part of micro air vehicles for the reliability of their operation. Collision avoidance strategies require enhanced environmental and situational awareness for generating evasive ... -
Control of underactuated planar hexapedal pronking through a dynamically embedded SLIP monopod
(IEEE, 2010)Pronking (aka. stotting) is a gait in which all legs are used in synchrony, resulting in long flight phases and large jumping heights that may potentially be useful for mobile robots on rough terrain. Robotic instantiations ... -
Defining innovation literacy: do robotics programs help students develop innovation literacy skills?
(Yıldız Technical University, 2013-04-10)There has been an invalidated belief among educators that the robotics activities would improve the innovation capacities of students. The current study addressed the need to conceptualize the innovation literacy idea while ... -
Design of a novel MRI compatible manipulator for image guided prostate interventions
(IEEE, 2005-02)This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner. The device provides ... -
Effects of linear filter on stability and performance of human-in-the-loop model reference adaptive control architectures
(ASME, 2017)Model reference adaptive control (MRAC) can effectively handle various challenges of the real world control problems including exogenous disturbances, system uncertainties, and degraded modes of operations. In human-in-the-loop ... -
Identification of target primitives with multiple decision-making sonars using evidential reasoning
(Sage Publications Ltd., 1998-06)In this study, physical models are used to model reflections from target primitives commonly encountered in a mobile robot's environment. These targets are differentiated by employing a multitransducer pulse/echo system ... -
Joint visual attention modeling for naturally interacting robotic agents
(IEEE, 2009-09)This paper elaborates on mechanisms for establishing visual joint attention for the design of robotic agents that learn through natural interfaces, following a developmental trajectory not unlike infants. We describe first ... -
Neural networks for improved target differentiation and localization with sonar
(Pergamon Press, 2001)This study investigates the processing of sonar signals using neural networks for robust differentiation of commonly encountered features in indoor robot environments. Differentiation of such features is of interest for ... -
An overview of regression techniques for knowledge discovery
(Cambridge University Press, 1999)Predicting or learning numeric features is called regression in the statistical literature, and it is the subject of research in both machine learning and statistics. This paper reviews the important techniques and algorithms ... -
Quadrupedal bounding with an actuated spinal joint
(IEEE, 2011)Most legged vertebrates use flexible spines and supporting muscles to provide auxiliary power and dexterity for dynamic behaviors, resulting in higher speeds and additional maneuverability during locomotion. However, most ... -
Real time hand gesture recognition for computer interaction
(IEEE, 2014-04)Hand gesture recognition is a natural and intuitive way to interact with the computer, since interactions with the computer can be increased through multidimensional use of hand gestures as compare to other input methods. ... -
A robotic software for intelligent applications
(2013)This study addresses the development of a novel intelligent robotic software system which can control a low-cost five DOF robotic arm and allows the robot to be able to play Tic-Tac-Toe, a simple board game. The paper first ... -
Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper
(A I P Publishing LLC, 2010)In this paper, we analyze the self-stability properties of planar running with a dissipative spring-mass model driven by torque actuation at the hip. We first show that a two-dimensional, approximate analytic return map ... -
Tracking and regulation control of a 2-DOF robot arm with unbalance
(IEEE, 2012-08)Servomechanism synthesis for a two degree-of-freedom robot arm assembled on a vessel and affected from sea disturbances is considered. Dynamic equations of the robot arm with unbalance and of an approximate base disturbance ...
