Plenary Lecture
Haptic Robots Stability on Uneven Terrain and Uncertain Environment
Professor Luige Vladareanu
Member of the International Institute of Acoustics and Vibration
Auburn University
USA
&
Head of Robotics and Mechatronics Department
Institute of Solid Mechanics, Romanian Academy, Bucharest
Romania
E-mail: luigiv@imsar.bu.edu.ro, luigiv@arexim.ro
Abstract: The paper presents new concepts through approaches of applied mathematics in modeling of the haptic robot stability for adapting the robot movements to unstructured rough terrain which allows action to be taken in crisis situations or natural disasters where human lives may be at stake. Modeling of the haptic robot ensure a successful robot orientation and navigation whereby the robot senses the terrain that it moves on by modifying the rigidity of the foot sole and robot segment joints when detecting uneven terrain depending on the rigidity associated to the position XC of the robot foot sole joint on the robot environment map, which leads to successive change in the robot walking scheme and to changing the control loop from position to force. This allows the human operator to remotely control the robot movement through two parameters, one visual and one haptic, respectively to see the robot environment map and simultaneously to feel the dampening of the robot foot movement when engaging the haptic device, generating the haptic Cartesian positions XCH for adapting the robot movement to uneven and unstructured terrain. The modeling of the control system integrates stability of the human walking on uneven terrain and uncertain environment using the neutrosophic control interface (ICN) by applying the neutrosophic control method (RNC), extended control interface (ICEx) by applying extended hybrid force-position control method (eHFPC), in which the multifunctional control interface allows real time synchronization of the intelligent control interfaces. The control system architecture for the dynamic robot walking is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The remote control and e-learning software with the possibility of access throughout the internet as a web application within an international academic network is developed. The results obtained through simulation and experiments lead to higher performance, stability, reliability, robustness and efficiency in approaching the predictable haptic robot motion and in the development of new technological capabilities of the physical systems with applications in the field of robotics.
Brief Biography of the Speaker: Luige Vladareanu received Ph.D. degree in electronics field from the Institute of Solid Mechanics of Romanian Academy, in 1998. From 2003, Ministry of Education and Research, executive Department for Financing Superior Education and of Scientific University Research - High Level Expert Consulting for MEC/CNCSIS project, from 2003-2005, member of Engineering Science Committee of Romanian National Research Council, from 2005, Scientific Researcher Gr.I (Professor) of Romanian Academy, from 2009 Head of Robotics and Mechatronics Department of Institute of Solid Mechanics, Romanian Academy. His scientific work is focused on real time control in solid mechanics applied in robot trajectory control, hybrid position – force control, multi-microprocessor systems for robot control, acquisition and processing of experimental physical data, experimental methods and signal processing, nano-micro manipulators, semi-active control of mechanical system vibrations, semi-active control of magnetorheological dissipaters systems, complex industrial automations with programmable logical controllers in distributed and decentralized structure. He has published over 35 books and book chapters, 11 edited books, over 200 papers in journals, proceedings and conferences in the areas. Director and coordinator of over 15 grants of international and national research – development programs in the last 5 years, 15 invention patents, developing 17 advanced work methods resulting from applicative research activities and more then 60 research projects.He is the winner of the two Prize and Gold of Excellence in Research 2000, SIR 2000, of the Romanian Government and the Agency for Science, Technology and Innovation. 9 International Invention and Innovation Competition Awardsand Gold of World’s Exhibition of Inventions, Geneva 2007 - 2009, and other 9 International Invention Awards and Gold of the Brussels, Zagreb, Bucharest International Exhibition. He received “TraianVuia” (2006) award of the Romanian Academy, Romania’s highest scientific research forum, for a group of scientific papers published in the real time control in the solid mechanics. He is aCorresponding Member of the American Romanian Academy and he is a member of the International Institute of Acoustics and Vibration (IIAV), Auburn University, USA (2006), ABI?s Research Board of Advisors, American Biographical Institute (2006), World Scientific and Engineering Academy Society, WSEAS (2005), International Association for Modelling and Simulation Techniques in Enterprises - AMSE, France (2004),National Research Council from Romania(2003-2005), etc. He is a PhD advisor in the field of mechanical engineering at the Romanian Academy.He was an organizer of several international conferences such as the General Chair of four WSEAS International Conferences (http://www.wseas.org/conferences/ 2008/romania/amta/index.html), chaired Plenary Lectures to Houston 2009, Harvard, Boston 2010 and Penang, Malaysia 2010, Paris 2011, Florence 2014, Tenerife 2015 to the WSEAS International Conferences, is team leader of WSEAS scientific research project: Mechanics & Robotics Systems and is serving on various other conferences and academic societies.