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Versatile Intelligent Portable Robot Control Platform Based on
Cyber Physical Systems Principles*

Victor VLADAREANU1, Ioan DUMITRACHE2, Luige VLADAREANU1,*, Ioan Stefan SACALA2, Gabriela TONT3, Mihnea Alexandru MOISESCU2

1 Institute of Solid Mechanics of the Romanian Academy,
15, C-tin Mille Street, Bucharest, 010141, Romania
vladareanuv@gmail.com; luigiv@arexim.ro
2 University “Politehnica” of Bucharest,
313, Splaiul Independentei, Bucharest, Romania
ioan.sacala@acse.pub.ro

3 University of Oradea,
1, University Street, Oradea, 410087, Romania
gtont@uoradea.ro

* Corresponding author

Abstract: 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.

Keywords: Humanoid or walking robots control; cyber physical systems; virtual projection method; stability of walking robots; versatile, intelligent, portable robot control.

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CITE THIS PAPER AS:
Victor VLADAREANU, Ioan DUMITRACHE, Luige VLADAREANU, Ioan Stefan SACALA, Gabriela TONT, 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

Introduction

Three important industrial revolutions have influenced manufacturing: first, coal, steam and mechanization, second, electricity motors and machines and third Computers, Information Technologies and Internet. The fourth major industrial revolution is currently emerging and is enabled by Future Internet paradigms such as Internet of Things and Internet of Services. Thus, the integration of these emerging technologies in industrial environment is enabled by the Cyber Physical Systems paradigm.

The emerging vision for manufacturing systems is encapsulated in Industrie 4.0 concept developed with the aid of the German government, with the aim of implementing Smart Factories.

Industrie 4.0 vision integrates Cyber-Physical Systems including sensors and actuator networks, intelligent network control systems and human in the loop principles.

In this paper, according to similar researches in the field of humanoid or walking robots real time control [1-4], in order to increase mobility and stability of walking robots movement, the authors’ main challenge is to develop a federated, adaptive, scalable, interoperability-focused robotic system in the field of Cyber-Physical Systems.

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* 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.

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