This paper studies humanoid and walking robot hybrid dynamic control through optimization of the intelligent control methods in order to increase the robot stability on uneven ground, at variable robot speed and disturbing loads. The robots performances, controlled by the intelligent control interfaces are analyzed and the virtual projection method is applied to the Versatile Intelligent Portable Robot Platform VIPRO developed as a Cyber Physical Systems. The results lead to higher performance, stability, reliability, robustness and efficiency in approaching the predictable robot motion and in the development of new technological capabilities of the physical systems with applications in the field of robotics.
* This paper is based on a former presentation entitled “Haptic Interfaces for Compensating Dynamics of Rescue Walking Robot” made at the International Conference on Communication, Management and Information Technology 2015. In the current paper we updated the model in order to include the Cyber-Physical System for future integration in the context of Internet of Things. Also, we defined several methods for CPS and optimized the intelligent control.
humanoid or walking robots control; cyber physical systems; virtual projection method; stability of walking robots; versatile, intelligent, portable robot control.
Victor VLADAREANU, Ioan DUMITRACHE, Luige VLADAREANU, Ioan Stefan SACALA, Gabriela TONȚ, Mihnea Alexandru MOISESCU, "Versatile Intelligent Portable Robot Control Platform Based on Cyber Physical Systems Principles*", Studies in Informatics and Control, ISSN 1220-1766, vol. 24(4), pp. 409-418, 2015. https://doi.org/10.24846/v24i4y201505
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