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ICARCV
2006
IEEE
207views Robotics» more  ICARCV 2006»
10 years 8 months ago
Adaptive Stable PID Controller with Parallel Feedforward Compensator
- In this paper, a new design method of adaptive PID controller is proposed. The method utilizes the so- called almost strict positive realness (ASPR) of the plant so that the stab...
Zenta Iwai, Ikuro Mizumoto, Lin Liu, S. L. Shah, H...
WCE
2007
10 years 3 months ago
An Adaptive Cross-EntropyTuning of the PID Control for Robot Manipulators
— This paper proposes a population based adaptive tuning for dynamic position control of robot manipulators. The dynamic behavior of a robot manipulator is highly nonlinear, and ...
Mehmet Bodur
AROBOTS
2002
132views more  AROBOTS 2002»
10 years 2 months ago
Feedforward and Feedback Dynamic Trot Gait Control for Quadruped Walking Vehicle
Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the...
Ryo Kurazume, Kan Yoneda, Shigeo Hirose
ENGL
2008
122views more  ENGL 2008»
10 years 2 months ago
Real-Time Population Based Optimization for Adaptive Motion Control of Robot Manipulator
A population based real-time optimization method for tuning dynamic position control parameters of robot manipulators has been proposed. Conventionally, the positional control is a...
Mehmet Bodur
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