8 accepted papers
Robot inverse kinematics is the foundation of robotics and an indispensable part of robot development and applications. The inverse kinematics of a robotic arm involves its specific configuration, the non-convex coupling relationships between joints, and the presence of multiple solutions, among oth
In this letter, a novel discrete active disturbance rejection control (ADRC) method is proposed to solve the trajectory tracking problem for a four-mecanum-wheeled mobile vehicle (FMWMV). The discrete ADRC method consists of a discrete variable-gain extended state observer (VGESO) and a discrete var
In this paper, a composite disturbance rejection control algorithm is developed for cooperatively carrying a cable-suspended payload in multi-quadrotor transportation system (MQTS). Firstly, based on the Newton Euler's method and orthogonal force decomposition, a precise MQTS model is established wh
Existing 3D stereo networks with 4D volumes are computationally expensive but precise while 2D stereo networks are efficient but poor performance. In this letter, we present a novel group fusion aggregation (GFA) for 2D convolutions cost aggregation based on 4D volumes to reduce computational costs.
In this letter, a multi-chamber soft bending pneumatic muscle (SBPM) is designed, which can achieve any-directional angle bending in space. The dynamic model of the multi-chamber SBPM is established by using Euler-Lagrange equation. To realize desired angle tracking control performances of the multi
In this article, a multi-DOF manipulator driven by novel hysteresis-attenuated pneumatic artificial muscles (PAMs) is designed, and the multi-DOF manipulator is composed of three manipulator units assembled in cascade, and each manipulator is driven by hysteresis-attenuated PAMs. Compared with the c
In this article, a new nonlinear disturbance observer (NDO) based fixed-time dynamic surface control (FTDSC) approach is developed to achieve desired trajectory tracking control performances of the pneumatic manipulator system driven by pneumatic artificial muscles (PAMs). To achieve active disturba
In this letter, a novel variable gain active disturbance rejection control (VGADRC) approach is developed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The proposed VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended