This paper shows a new methodology for bilateral controller design based on transparency using a ... more This paper shows a new methodology for bilateral controller design based on transparency using a modified state convergence control scheme. This methodology offers some advantages upon designing bilateral systems. The design is based on modelling the behaviour of the master and the slave by applying state space equations, and considering perfect transparency cannot be reached. Therefore, the objective of the
Summary. The goal of this chapter is to experimentally study the behaviour of bilat-eral controll... more Summary. The goal of this chapter is to experimentally study the behaviour of bilat-eral controllers. Previous chapter introduced a general framework for designing bilateral systems. In this chapter, performance of some of the most common control schemes is ...
Resumen El presente artículo describe los trabajos realizados para la identificación, modelado y ... more Resumen El presente artículo describe los trabajos realizados para la identificación, modelado y control de un sistema bilateral compuesto por un maestro eléctrico y un esclavo hidráulico. El objetivo fundamental ha sido desarrollar una plataforma abierta para la experimentación de diferentes estrategias de control para robots teleoperados con reflexión de fuerzas. Se ha desarrollado un hardware específico de control basado en el DSP TMS320F2812 de Texas Instrument. Los resultados han puesto de manifiesto la posibilidad de cerrar los dos bucles de control en tiempos próximos a 5 ms; lo cual evita la aparición de problemas relativos a inestabilidades ligadas al retraso en las comunicaciones. La identificación se ha realizado mediante las herramientas que ofrece Matlab, obteniéndose modelos de tercer orden que han demostrado ser suficientes para cerrar satisfactoriamente los bucles de control.
Operator perception could be improved by upgrading force feedback devices and adding more senses,... more Operator perception could be improved by upgrading force feedback devices and adding more senses, such as audio and/or visual. This work is focused on multi-sensorial feedback such as vision, sound, and haptic. The main objective is to determine the most suitable manner to show proper information from the remote environment using devices with a bandwith lower than 30 Hz. The advantage of this device is its cost and simplicity. However, this constraint implies only to perceive contact forces. Information such as texture can not be displayed. This paper describes the results of an experiment about force feedback on telerobotics. The study concentrates on the evaluation of force perception affecting our senses such as haptic, audio and visual.
This paper describes a technique for statically stable gait synthesis for a quadruped robot using... more This paper describes a technique for statically stable gait synthesis for a quadruped robot using a simple Feed Forward Neural Networks (FFNN). A common approach for gait synthesis based on neural networks, is to use an implementation with Continuous Time Recurrent Neural Network (CTRNN) of arbitrary complex architecture as pattern generator for rhythmic limb motion. The preferred training method is
This paper shows a new methodology for bilateral controller design based on transparency using a ... more This paper shows a new methodology for bilateral controller design based on transparency using a modified state convergence control scheme. This methodology offers some advantages upon designing bilateral systems. The design is based on modelling the behaviour of the master and the slave by applying state space equations, and considering perfect transparency cannot be reached. Therefore, the objective of the
Summary. The goal of this chapter is to experimentally study the behaviour of bilat-eral controll... more Summary. The goal of this chapter is to experimentally study the behaviour of bilat-eral controllers. Previous chapter introduced a general framework for designing bilateral systems. In this chapter, performance of some of the most common control schemes is ...
Resumen El presente artículo describe los trabajos realizados para la identificación, modelado y ... more Resumen El presente artículo describe los trabajos realizados para la identificación, modelado y control de un sistema bilateral compuesto por un maestro eléctrico y un esclavo hidráulico. El objetivo fundamental ha sido desarrollar una plataforma abierta para la experimentación de diferentes estrategias de control para robots teleoperados con reflexión de fuerzas. Se ha desarrollado un hardware específico de control basado en el DSP TMS320F2812 de Texas Instrument. Los resultados han puesto de manifiesto la posibilidad de cerrar los dos bucles de control en tiempos próximos a 5 ms; lo cual evita la aparición de problemas relativos a inestabilidades ligadas al retraso en las comunicaciones. La identificación se ha realizado mediante las herramientas que ofrece Matlab, obteniéndose modelos de tercer orden que han demostrado ser suficientes para cerrar satisfactoriamente los bucles de control.
Operator perception could be improved by upgrading force feedback devices and adding more senses,... more Operator perception could be improved by upgrading force feedback devices and adding more senses, such as audio and/or visual. This work is focused on multi-sensorial feedback such as vision, sound, and haptic. The main objective is to determine the most suitable manner to show proper information from the remote environment using devices with a bandwith lower than 30 Hz. The advantage of this device is its cost and simplicity. However, this constraint implies only to perceive contact forces. Information such as texture can not be displayed. This paper describes the results of an experiment about force feedback on telerobotics. The study concentrates on the evaluation of force perception affecting our senses such as haptic, audio and visual.
This paper describes a technique for statically stable gait synthesis for a quadruped robot using... more This paper describes a technique for statically stable gait synthesis for a quadruped robot using a simple Feed Forward Neural Networks (FFNN). A common approach for gait synthesis based on neural networks, is to use an implementation with Continuous Time Recurrent Neural Network (CTRNN) of arbitrary complex architecture as pattern generator for rhythmic limb motion. The preferred training method is
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Papers by Juan Bogado