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Generating Periodic Motions for the Butterfly Robot
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Sveriges lantbruksuniversitet .
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2013 (English)In: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on / [ed] Amato, N., IEEE conference proceedings, 2013, 2527-2532 p.Conference paper (Refereed)
Abstract [en]

We analyze the problem of dynamic non-prehensile manipulation by considering the example of thebutterfly robot. Our main objective is to study the problem of stabilizing periodic motions, which resemble some form of juggling acrobatics. To this end, we approach the problem by considering theframework of virtual holonomic constraints. Under this basis, we provide an analytical and systematic solution to the problems of trajectory planning and design of feedback controllers to guarantee orbital exponential stability. Results are presented in the form of simulation tests.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 2527-2532 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keyword [en]
Underactuated mechanical systems, limit cycles, virtual holonomic constraints, transverse linearization
National Category
URN: urn:nbn:se:umu:diva-86210DOI: 10.1109/IROS.2013.6696712ISI: 000331367402100ISBN: 978-1-4673-6358-7OAI: diva2:698101
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Location: Tokyo, Japan Date: Nov 3-8, 2013
Available from: 2014-02-20 Created: 2014-02-20 Last updated: 2016-02-15Bibliographically approved
In thesis
1. Virtual Holonomic Constraints: from academic to industrial applications
Open this publication in new window or tab >>Virtual Holonomic Constraints: from academic to industrial applications
2015 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Whether it is a car, a mobile phone, or a computer, we are noticing how automation and production with robots plays an important role in the industry of our modern world. We find it in factories, manufacturing products, automotive cruise control, construction equipment, autopilot on airplanes, and countless other industrial applications.

        Automation technology can vary greatly depending on the field of application. On one end, we have systems that are operated by the user and rely fully on human ability. Examples of these are heavy-mobile equipment, remote controlled systems, helicopters, and many more. On the other end, we have autonomous systems that are able to make algorithmic decisions independently of the user.

        Society has always envisioned robots with the full capabilities of humans. However, we should envision applications that will help us increase productivity and improve our quality of life through human-robot collaboration. The questions we should be asking are: “What tasks should be automated?'', and “How can we combine the best of both humans and automation?”. This thinking leads to the idea of developing systems with some level of autonomy, where the intelligence is shared between the user and the system. Reasonably, the computerized intelligence and decision making would be designed according to mathematical algorithms and control rules.

        This thesis considers these topics and shows the importance of fundamental mathematics and control design to develop automated systems that can execute desired tasks. All of this work is based on some of the most modern concepts in the subjects of robotics and control, which are synthesized by a method known as the Virtual Holonomic Constraints Approach. This method has been useful to tackle some of the most complex problems of nonlinear control, and has enabled the possibility to approach challenging academic and industrial problems. This thesis shows concepts of system modeling, control design, motion analysis, motion planning, and many other interesting subjects, which can be treated effectively through analytical methods. The use of mathematical approaches allows performing computer simulations that also lead to direct practical implementations.

Place, publisher, year, edition, pages
Umeå: Umeå Universitet, 2015. 57 p.
Robotics and control lab, ISSN 1654-5419 ; 7
Virtual Holonomic Constraints, modeling, control, motion planning, under-actuated systems, forestry cranes, hydraulic manipulators
National Category
Control Engineering Robotics
urn:nbn:se:umu:diva-87707 (URN)978-91-7601-196-6 (ISBN)
Public defence
2015-02-02, MA121, MIT-Huset, Umeå Universitet, Umeå, 13:00 (English)
Available from: 2015-01-12 Created: 2014-04-07 Last updated: 2015-01-12Bibliographically approved

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Ortiz Morales, DanielLa Hera, PedroUr Rehman, Shafiq
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