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RISS 인기검색어
- 검색키워드
- 저자 : Khalil Muhammad Zuhaib (검색결과 4 건)
- 무료
- 기관 내 무료
- 유료
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A Spiral Curve Gait Design for a Modular Snake Robot Moving on a Pipe
Sheraz Yaqub,Ahmad Ali,Muhammad Usman,Khalil Muhammad Zuhaib,Abdul Manan Khan,안보영,문현기,이지영,한창수 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.10
Modular snake robot has the ability to maneuver narrow, complex, and unstructured environments. In recent years, Snake robot with 3-D locomotion has been studied by researchers for inspection of pipes, and stairs climbing etc. One of the effective approaches to accomplishing such complex tasks is by designing gaits for modular snake robot. In this paper, A Spiral curve gait along with rolling motion is proposed to adapt to the changes in the pipe diameter while moving on the pipe, which cannot be overcome by a simple helical rolling motion. The joint angles are calculated using Bellow’s model, based on the curvature and torsion of the backbone curve. We validated the proposed gait by simulating thirty degrees of freedom modular snake robot in Open Dynamics Engine simulator.
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Estimation of Desired Motion Intention and Compliance Control for Upper Limb Assist Exoskeleton
압둘 마난 칸,윤덕원,Khalil Muhammad Zuhaib,Junaid Iqbal,Rui-Jun Yan,Fatima Khan,한창수 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2
In this paper, we have addressed two issues for upper limb assist exoskeleton. 1) Estimation of DesiredMotion Intention (DMI); 2) Robust compliance control. To estimate DMI, we have employed Extreme LearningMachine Algorithm. This algorithm is free from traditional Neural Network based problems such as local minima,selection of suitable parameters, slow convergence of adaptation law and over-fitting. These problems cause lot ofproblem in tuning the intelligent algorithm for the desired results. Furthermore, to track the estimated trajectory, wehave developed model reference based adaptive impedance control algorithm. This control algorithm is based onstable poles of desired impedance model, forcing the over all system to act as per desired impedance model. It alsoconsiders robot and human model uncertainties. To highlight the effectiveness of the proposed control algorithm, wehave compared it with simple impedance and target reference based impedance control algorithms. Experimentalevaluation is carried on seven degree of freedom upper limb assist exoskeleton. Results describe the effectiveness ofELM algorithm for DMI estimation and robust tracking of the estimated trajectory by the proposed model referenceadaptive impedance control law.
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Motion planning for a planar mechanical system with dissipative forces
Ali, Ahmad,Yaqub, Sheraz,Usman, Muhammad,Zuhaib, Khalil M.,Khan, A. Manan,Lee, Ji-Yeong,Han, Chang-soo Elsevier 2018 Robotics and autonomous systems Vol.107 No.-
<P><B>Abstract</B></P> <P>In this paper, the geometric motion planning problem is addressed for an under-actuated mechanical system with dynamic non-holonomic constraints. Such constraints are the result of conservation of momentum that limits the mobility of the system in ambient space. However, dissipation forces due to interaction with the environment play a role enabling the system to move in constrained directions. Geometric mechanics tools are used to represent system dynamics in a structured form, which help better understand the motion planning problem. The geometric structure can be utilized to choose appropriate gaits intuitively by considering the properties of functions involved in the system dynamics. In a similar manner, dissipation forces also show the same type of geometric properties in terms of Stokes’ connection and Stokes’ Gamma functions. We can choose a gait intuitively without the need for integrating the system dynamics to generate motion in ambient space. We achieve this by exploiting the geometric properties of the friction model along with the natural dynamics of the system. By the proposed gait selection methodology, gaits are devised to move the system along a fiber direction. The simulation results are consistent with the results predicted by the proposed motion planning method. The proposed methodology is validated using experimental demonstration which also supports the simulation results. The proposed Stokes’ Height functions and Stokes’ Gamma functions can help to better understand the contribution of the dissipative forces and their anisotropy in motion of biological snakes and their robotic counterparts.</P>
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Passivity Based Adaptive Control for Upper Extremity Assist Exoskeleton
한창수,압둘 마난 칸,윤덕원,Mian Ashfaq Ali,Khalil Muhammad Zuhaib,원조,Junaid Iqbal,신규식 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.1
Upper limb assist exoskeleton robot requires quantitative techniques to assess human motor function andgenerate command signal for robots to act in compliance with human motion. To asses human motor function,we present Desired Motion Intention (DMI) estimation algorithm using Muscle Circumference Sensor (MCS) andload cells. Here, MCS measures human elbow joint torque using human arm kinematics, biceps/triceps musclemodel and physiological cross sectional area of these muscles whereas load cells play a compensatory role for thetorque generated by shoulder muscles as these cells measure desire of shoulder muscles to move the arm and notthe internal activity of shoulder muscles. Furthermore, damped least square algorithm is used to estimate DesiredMotion Intention (DMI) from these torques. To track this estimated DMI, we have used passivity based adaptivecontrol algorithm. This control techniques is particular useful to adapt modeling error of assist exoskeleton robotfor different subjects. Proposed methodology is experimentally evaluated on seven degree of freedom upper limbassist exoskeleton. Results show that DMI is well estimated and tracked for assistance by the proposed controlalgorithm.
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