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A Robust GPI Controller for Trajectory Tracking Tasks in the Limbs of a Walking Robot
Edwards Sánchez,Alberto Luviano,Alberto Rosales 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6
The study and development of walking robots implies solving several problems related with the design,dynamics, gait patterns, control and other topics inherent to their complex mechanism. One of the most importantproblems is the trajectory tracking tasks made by the degrees of freedom of each limb. Once the path planner hasestablished the correct trajectory to follow, is necessary to track it with the least possible error. This importanttask is made by a controller, and helps the robot to maintain a stable walking. In this work we have focused onproposing a GPI control law for a limb of a hexapod walking robot, in order to track smooth trajectories and rejectdisturbances present in the closed-loop system. We also present the dynamic model of the limb, the designedreference trajectories, control simulations and experimental results.
Philip Lawrence Aberion,Ryan Alocilja,Fritz Cornel Bartolome,Dick Rosal,Harry Rolf Rovillos,Alberto S. Banacia 대한전자공학회 2010 ICEIC:International Conference on Electronics, Inf Vol.1 No.1
Landslides have been one of the natural calamities causing much casualties and destruction in human history. This project intends to create a prototype of an early warning device for the occurrence of landslides. The two monitoring devices used in this project that corresponds to the two parameters that are being considered in the incidence of landslides are the soil moisture and soil displacement detector. These monitoring devices have three major component blocks namely: The sensor which detects changes in the parameters and triggers the system when either moisture content or displacement of soil reaches a specified level, the microcontroller which is programmed to receive the signals from the sensor and translate these signals to codes comprehensible by the cellular phone and the cellular phone which is interfaced with the microcontroller and is used to send a predetermined SMS message to the assigned recipient of the message. With the integration of these components, a warning device is constructed that can offer a much needed step towards creating a system that can provide warning to people before another tragedy happens.