Octavian Melinte

Haptic interfaces for the rescue walking robots motion in the disaster areas

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

Compensating dynamics of impedance haptic devices using Neural Networks

This paper presents a Neural Network approach to compensate dynamic terms, friction force in particular, of a four degree of freedom haptic device manipulator similar to commercial ones that are on the market, which is controlled in impedance. The friction force model is analyzed using a general compensation method after which a trained Multi-Layer Neural Network is introduced in order to obtain a more accurate friction approximation for cancelling out this term from dynamics so that the movement of the device feels free and unconstraint.

A new approach of sliding motion robot control using bond graph

In this paper we used bond graphs to design a sliding motion control. After building the bond graph database with the new elements, we designed a 2DOF walking robot which we controlled. Along with a fuzzy control law that improves the tracking speed, we eliminated the overrides that appear in controlling the foot when disturbances appear. Compared to others we also achieved a lower error rate and a better time in reaching the desired position.