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A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
(IEEE, 2018-10)
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly ...
Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
(IEEE, 2015)
This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, ...
Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
(IEEE, 2015)
This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional ...
Environmental force estimation for a robotic hand : compliant contact detection
(IEEE, 2015)
This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ...
An experimental study of a bluetooth communication system for robot motion control
(IEEE, 2019)
This paper presents a method that aims to reduce the complex cabling problem in robotics applications, so as to prevent difficulties in troubleshooting processes and failures in case of cable breaks. Examples in the ...
A comparison study on observer-based force control of series elastic actuators
(IEEE, 2018)
This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected ...
Mars gezgini prototipi Merih-2
(Gazi Üniversitesi, 2018-12)
Merih-2, Özyeğin Üniversitesi Rover Takımı tarafından University Rover Challenge 2016 ve European Rover Challenge 2016’ya katılmak ve Mars koşullarında görev yapmak için tasarlanan gezgindir. Sürüş için Merih-2’nin 6 adet ...
Erratum 2: Search for dark matter and unparticles in events with a Z boson and missing transverse momentum in proton-proton collisions at s√=13 TeV
(Springer Nature, 2018-01)
In the original paper, figure 10 was incorrect. The correct figure is shown below. Additionally, the unparticle entries in table 3, as well as figure 4 and 5 were labelled with incorrect values of ΛU.
3D neuromorphic wireless power transfer and energy transmission based synaptic plasticity
(IEEE, 2019)
Energy consumption combined with scalability and 3D architecture is a fundamental constraint for brain-inspired computing. Neuromorphic architectures including memristive, spintronic, and floating gate metal-oxide-semiconductors ...
Colliding urban transformation process: the case of historical peninsula, Istanbul
(ArchNet-IJAR, 2018)
Over the last three decades, the disruptive quality of urban and social restructuring processes in Turkey has been intensified by the government’s decision to embrace the concept of urban transformation as a tool to boost ...
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