Hybrid position/force control: a correct formulation
International Journal of Robotics Research
Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor
Journal of Intelligent and Robotic Systems
Stable Running with Segmented Legs
International Journal of Robotics Research
Iterative genetic algorithm based strategy for obstacles avoidance of a redundant manipulator
AMERICAN-MATH'10 Proceedings of the 2010 American conference on Applied mathematics
Fuzzy Petri net-based approach in modelling simultaneous task assignment for robotic system
AMERICAN-MATH'10 Proceedings of the 2010 American conference on Applied mathematics
Modeling and hybrid position-force control of walking modular robots
AMERICAN-MATH'10 Proceedings of the 2010 American conference on Applied mathematics
Micro-robots used in control of automatic drilling operations
WSEAS Transactions on Circuits and Systems
Designing a mobile robot used in services area
ROCOM'11/MUSP'11 Proceedings of the 11th WSEAS international conference on robotics, control and manufacturing technology, and 11th WSEAS international conference on Multimedia systems & signal processing
Genetic algorithm for walking robots motion optimization
Proceedings of the 15th WSEAS international conference on Systems
Walking robot method control using artificial vision
Proceedings of the 15th WSEAS international conference on Systems
The haptic impendance control through virtual environment force compensation
Proceedings of the 15th WSEAS international conference on Systems
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The paper presents new concepts and approaches of multi-stage fuzzy method of walking robots using resolved acceleration control. Several compliant control methods were analyzed in order to obtain high performances in robot trajectory control, which generates position and force parameters for multi-stage fuzzy control, some of which include a dynamic model in loop control and some of which doesn't include dynamic model. For real-time control of robot stability the mathematical modeling of the center of gravity position was realized, in order to allow control of the walking robot when moving on terrains with complicated configuration, and relations which are necessary for robot position coordinates of the center of gravity were established. The studies presented have demonstrated the possibility of implementing force control by resolved acceleration, where dynamics and kinematics stability are simultaneously achieved in rigid environments. The obtained results lead to a smooth transition, in walking robots movement, without discontinuities, from controlling in position to controlling in force and position.