Results 41 to 50 of about 58,521 (295)

Global tracking for an underactuated ships with bounded feedback controllers [PDF]

, 2012
In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop system is globally ...
Chitour, Yacine, Harmouche, Mohamed, Laghrouche, Salah   +2 more
core   +6 more sources

Soft Robotic Snake with Tunable Undulatory Gait for Efficient Underwater Locomotion

Advanced Robotics Research, EarlyView.
This study designs an underwater soft snake robot using 3D‐printed soft actuators, controlled by specific signals to generate sinusoidal undulation. Results show a positive correlation between speed and swing amplitude, with optimal performance at 2/3π phase offset, PLA tail, 1.2 voltage growth rate, and 6s undulation period achieving a maximum speed ...
Huichen Ma, Junjie Zhou, Raye Yeow
wiley   +1 more source

Command-Filtered Yaw Stability Control of Vehicles with State Constraints

Actuators
Yaw stability control is crucial for ensuring the driving safety of intelligent vehicles. This paper proposes a state-constrained command-filtered control (CFC) approach for vehicle yaw stability.
Lizhe Wu, Zhenhua Liu, Dingxuan Zhao
doaj   +1 more source

Stability of Monomer-Dimer Piles

, 2001
We measure how strong, localized contact adhesion between grains affects the maximum static critical angle, theta_c, of a dry sand pile. By mixing dimer grains, each consisting of two spheres that have been rigidly bonded together, with simple spherical ...
Alex J. Levine, C.J. Olson, D. Ertaş, D.J. Hornbaker, Deniz Ertaş, J.B. Knight, L.E. Silbert, P. Tegzes, R. Albert, T.C. Halsey, T.G. Mason, Thomas C. Halsey, Thomas G. Mason, V. Frette   +13 more
core   +1 more source

Nonlocomotory Robotic Strategies for Dynamic Rotation Control in Terrestrial Robots: A Review

Advanced Robotics Research, EarlyView.
Terrestrial robots increasingly require rapid body rotation to maintain stability and agility in complex environments. This review shows nonlocomotory rotational control strategies that operate without ground contact, including reaction wheels, tails, bars, limbs, and thrusters.
Y. Liang, J. An, X. Zheng, D. Wang, S. Wang, X. Wang, P. Zhu, J. Pei, S. Li, J. Paripurana, Y. Han, Z. Tang, X. Gan, Q. He, X. Ma   +14 more
wiley   +1 more source

The Mechanism of Yaw Torque Compensation in the Human and Motion Design for Humanoid Robots

International Journal of Advanced Robotic Systems, 2013
When a humanoid robot walks fast or runs, the yaw torque is so large that the supporting foot slips easily and the robot may become unstable. The compensation for the yaw torque is important for fast humanoid walking and many studies have been focusing ...
Si Zhang, Qiang Huang, Huaping Wang, Wei Xu, Gan Ma, Yunhui Liu, Zhangguo Yu   +6 more
doaj   +1 more source

A Multi-Objective Optimal Torque Distribution Strategy for Four In-Wheel-Motor Drive Electric Vehicles

IEEE Access, 2019
Since four in-wheel-motor drive electric vehicles (4IDEVs) are overactuated systems, the torque distribution strategy is crucial for improving the system efficiency, lateral stability, and safety.
Cheng Lin, Sheng Liang, Jian Chen, Xiang Gao   +3 more
doaj   +1 more source

Yaw Motion Stability of an Indonesian Ro-Ro Ferry in Adverse Weather Conditions

International Journal of Technology, 2020
The yaw motion stability and course-keeping ability of ships are important factors with regard to collision danger, particularly for ships operating in narrow channels, crowded routes, or port areas.
Daeng Paroka
doaj   +1 more source

Pemodelan Simulasi Berbasis Fuzzy Controller Terhadap Perilaku Yaw Rate Dengan Pengendalian Sudut Steer Roda Belakang (4WS) [PDF]

, 2004
Four Wheels Steering System drives (4ws) are increase ones quality of chassis system as propose improve the handling quality and increase the safety, comfortable, and stability control at the highest of vehicle speed. At the time of vehicle move yaw-rate
Berata, W. (Wajan), Subagia, I. D. (I)
core  

MGDP: Mastering a Generalized Depth Perception Model for Quadruped Locomotion

Advanced Science, EarlyView.
ABSTRACT Perception‐based Deep Reinforcement Learning (DRL) controllers demonstrate impressive performance on challenging terrains. However, existing controllers still face core limitations, struggling to achieve both terrain generality and platform transferability, and are constrained by high computational overhead and sensitivity to sensor noise.
Yinzhao Dong, Ji Ma, Yidan Lu, Jiahui Zhang, Wanyue Li, Yeke Chen, Teng Zhang, Xuechao Chen, Zhangguo Yu, Peng Lu   +9 more
wiley   +1 more source