Md. Akhtaruzzaman

Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis

Inverted pendulum control is one of the fundamental but interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. In this paper some classical and modern control techniques are analyzed to design the control systems. Firstly, the most popular Single Input Single Output (SISO) system, is applied including 2DOF Proportional-Integral-Derivative (PID) compensator design. Here the common Root Locus Method is described step by step to design the two compensators of PID controller. Designing the control system using 2DOF PID is quiet challenging task for the rotary inverted pendulum because of its highly nonlinear and open-loop unstable characteristics. Secondly, the paper describes the two Modern Control techniques that include Full State Feedback (FSF) and Linear Quadratic Regulator (LQR). Here FSF and LQR control systems are tested both for the Upright and Swing-Up mode of the Pendulum. Finally, experimental and MATLAB based simulation results are described and compared based on the three control systems which are designed to control the Rotary Inverted Pendulum.

Evolution of Humanoid Robot and contribution of various countries in advancing the research and development of the platform

A human like autonomous robot which is capable to adapt itself with the changing of its environment and continue to reach its goal is considered as Humanoid Robot. These characteristics differs the Android from the other kind of robots. In recent years there has been much progress in the development of Humanoid and still there are a lot of scopes in this field. A number of research groups are interested in this area and trying to design and develop a various platforms of Humanoid based on mechanical and biological concept. Many researchers focus on the designing of lower torso to make the Robot navigating as like as a normal human being do. Designing the lower torso which includes west, hip, knee, ankle and toe, is the more complex and more challenging task. Upper torso design is another complex but interesting task that includes the design of arms and neck. Analysis of walking gait, optimal control of multiple motors or other actuators, controlling the Degree of Freedom (DOF), adaptability control and intelligence are also the challenging tasks to make a Humanoid to behave like a human. Basically research on this field combines a variety of disciplines which make it more thought-provoking area in Mechatronics Engineering. In this paper a various platforms for Humanoid Robot development are identified and described based on the evolutionary research on robotics. The paper also depicts a virtual map of humanoid platform development from the ancient time to present time. It is very important and effective to analyze the development phases of androids because of its Business, Educational and Research value. Basic comparisons between the different designs of Humanoid Structures are also analyzed in this paper.

Geometrical analysis on BIOLOID humanoid system standing on single leg

In near future humanoid robots will not only be able to socialize with the human being but will also be able to replace him even in the irksome and dangerous tasks, ranging from rescuing situations to interplanetary exploration. Nowadays many researchers are engaged on this field to make the humanoid more adaptable, intelligent and representable to the dynamic environment. Designing a suitable and efficient gait for the Biped Intelligent Machine (BIM) is a complex task. In this paper a geometrical analysis is presented to identify the movements and positions of the Center of Gravity (CoG) of a humanoid system while it balancing itself in the Single Support (SS) mode. SS mode while standing on single leg is a very critical job for a bipedal system. The paper also exemplifies the results based on the proposed Geometrical Analysis Technique (GAT) which is applied on the BIOLOID humanoid system.

An attempt to develop a Biped Intelligent Machine BIM-UIA

Human like sovereign system that is capable to adapt itself with the changes of its environment and continue to reach its goal is considered as Humanoid Robot. In recent years much progress has been done in the design and development of humanoid and still there have a lot of opportunities in this field. Strategies of lower torso are concern for many researchers to make the system navigating as like as a normal human being do. Designing the toe, ankle, knee, hip and west for lower torso is the complicated and challenging task. Analyzing the walking gait, optimal control of multiple actuators, designing the Degree of Freedom (DoF), adaptability control and intelligence are also the ambitious tasks to make a humanoid to act like a human. This paper exemplifies the initiatives to design and development of a Biped Intelligent Machine (BIM) for Universiti Islam Antarabangsa (UIA) called BIM-UIA, in order to meet the demand of a research platform for humanoid robot navigation system. The paper represents the basic prototype design of the system as the outcomes of the study, mechanical design of a single leg having 6 DoF, component selection schemes, design of the control architecture and hip joint strategy based on three different models. This work is basically a small part of the main project but have a great inspiration for the researchers with the aim to design and construct the future BIM-UIA with lower cost and limited time constraints.

Design and development of a wall climbing Robot and its control system

The Robot, named as TRAIN WALL BOT, is designed to navigate on smooth vertical surfaces with the capability to avoid obstacles and overcome if the height is about 1cm. The design is inspired from train steel wheel movement that contains two actuated legs with rotary motion provided by a DC motor. The Robot uses pneumatic system and the suction force is supplied by an air compressor that turns on intermittently. The suction force ensures the attachment of the robot with the wall by using 3 vacuum valves and 6 vacuum pads. The robot is controlled using PIC 16F877A. Two limit switches are used to acknowledge the contact with its navigating surface. Vacuum suction is controlled based on the ON OFF priority of the limit switches. Though the design is quiet simple but it is capable to walk, climb vertical smooth surfaces and avoid obstacles. Forward and backward movements are also faster, smoother and more stable (because of the coupling design) than other existing wall climbing Robots. In this paper, various aspects of prototype design and development of the Climbing Robot are conveyed including the body, leg, feet design and gait dynamics.

A novel gait for Toddler biped and its control using PIC 16F877A

Beside the humanoid platform both in the male and female form, a huge numbers of researches are advancing to design and develop the humanoid robot kits ensuring the educational, research and business value. Because of the smart design with few numbers of actuators, smaller in size and weight, lower power having simplified controller and modest price make the humanoid robot kits more attractive, charismatic and representable to the general public. In this paper the small sized biped robot called TODDLER is delineated intricately. The paper also exemplifies the design strategies of a novel walking gait for this robot kit. A new control architecture is also proposed and designed based on PIC 16F877A which makes the biped system more valuable for educational activities on robotics research especially for humanoid robots. A rudimentary algorithm, that helps the biped kit to perform its gait to navigate, is represented and its simulated results are also scrutinized in this paper.

DESIGN AND DEVELOPMENT OF AN INTELLIGENT AUTONOMOUS MOBILE ROBOT FOR A SOCCER GAME COMPETITION

The paper describes the design and development of a mobile robot, driven by two modified micro servo motor (works as DC motor), that act as a player in a particular soccer game competition. The robot is guided by IR sensors to follow lines and by choosing optimal path to reach the ball and take it to the opponent’s goal. The 12x12 cm robot can perceive the presence and position of the ball; it also can sense the presence of obstacles and the opponent on its moving direction. It is capable to revolve itself as 90 or 180 degrees without moving the position of the center point of the joint line of the two wheels. It is important that in indoor environment a mobile robot must know its position, to navigate reliably. In this particular soccer game the robot updates its position every time whenever it passes the cross section of the ground lines. To understand the direction of its movement and the position of the opponent goal area, an algorithm is also designed and implemented into its controller chip.

Modeling and Control of a Multi Degree of Freedom Flexible Joint Manipulator

The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in the construction of manipulator, the assumption that negligible link deformation no longer applies. A nonlinear passivity-based control method for rigid flexible joint as well as flexible link is proposed here. The main idea of Passivity Based Controller (PBC) is to use energy state of a system to provide stabilization. The PBC is developed to achieve two goals: set point regulation and trajectory tracking. The controller brings the end point from unstable position to a certain stable position. Beside that, the controller are developed to control the position of there end-point in such a way that it tracks the desired trajectory which are tested by simulations.

An Experiment on Electric Power Steering (EPS) System of a CAR

This paper describes an experiment on Electric Power Steering (EPS) system of a car. Nowadays EPS system can be considered as a Mechatronics system that reduces the amount of steering effort by directly applying the output of an electric motor to the steering system. In this paper, the constitutions, operational mechanism and control strategies of EPS system are introduced. A potentiometer measures driver input to the steering wheel, both direction and rate of turn. This information is fed into a microcontroller that determines the desired control signals to the motor to produce the necessary torque needed to assist. Although an electro hydraulic power assisted steering system can be used to reduce the fuel consumption, but the maximum benefit can be obtained if electronic system is applied instead of the hydraulic mechanism. The paper shows that a good power steering control technique is achieved by designing a Mechatronics system. The experimental results for the designed EPS system are also analyzed in this paper.

Joint demeanors of an anthropomorphic robot in designing the novel walking gait

The movement patterns of various joint actuators of the humanoid system are described in this paper to identify and understand the behavior of the biped walking motions. This paper focuses on two major parts of the study, firstly the analysis and design of human like walking gait for an anthropoid system and secondly the implementation of the designed gait to navigate the robot from a source position to a destination point. The walking strategy is demonstrated on a flat surface where the robot performs its tasks without losing its upright position. The perfect combination of actuator motions determines the robustness of the humanoid system where the angular positions are established through the Inverse Kinematics analysis depending on the geometrical and trigonometric formulation. The paper mainly represents the joint demeanors of the humanoid robot in performing the designed walking gait.