Shared control for navigation and balance of a dynamically stable robot.
by Law Kwok Ho Cedric. === Thesis (M.Phil.)--Chinese University of Hong Kong, 2001. === Includes bibliographical references (leaves 106-112). === Abstracts in English and Chinese. === Chapter 1 --- Introduction --- p.1 === Chapter 1.1 --- Motivation --- p.1 === Chapter 1.2 --- Related work --- p....
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| Format: | Others |
| Language: | English Chinese |
| Published: |
2001
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| Online Access: | http://library.cuhk.edu.hk/record=b5890590 http://repository.lib.cuhk.edu.hk/en/item/cuhk-323430 |
| Summary: | by Law Kwok Ho Cedric. === Thesis (M.Phil.)--Chinese University of Hong Kong, 2001. === Includes bibliographical references (leaves 106-112). === Abstracts in English and Chinese. === Chapter 1 --- Introduction --- p.1 === Chapter 1.1 --- Motivation --- p.1 === Chapter 1.2 --- Related work --- p.4 === Chapter 1.3 --- Thesis overview --- p.5 === Chapter 2 --- Single wheel robot: Gyrover --- p.9 === Chapter 2.1 --- Background --- p.9 === Chapter 2.2 --- Robot concept --- p.11 === Chapter 2.3 --- System description --- p.14 === Chapter 2.4 --- Flywheel characteristics --- p.16 === Chapter 2.5 --- Control patterns --- p.20 === Chapter 3 --- Learning Control --- p.22 === Chapter 3.1 --- Motivation --- p.22 === Chapter 3.2 --- Cascade Neural Network with Kalman filtering --- p.24 === Chapter 3.3 --- Learning architecture --- p.27 === Chapter 3.4 --- Input space --- p.29 === Chapter 3.5 --- Model evaluation --- p.30 === Chapter 3.6 --- Training procedures --- p.35 === Chapter 4 --- Control Architecture --- p.38 === Chapter 4.1 --- Behavior-based approach --- p.38 === Chapter 4.1.1 --- Concept and applications --- p.39 === Chapter 4.1.2 --- Levels of competence --- p.44 === Chapter 4.2 --- Behavior-based control of Gyrover: architecture --- p.45 === Chapter 4.3 --- Behavior-based control of Gyrover: case studies --- p.50 === Chapter 4.3.1 --- Vertical balancing --- p.51 === Chapter 4.3.2 --- Tiltup motion --- p.52 === Chapter 4.4 --- Discussions --- p.53 === Chapter 5 --- Implement ation of Learning Control --- p.57 === Chapter 5.1 --- Validation --- p.57 === Chapter 5.1.1 --- Vertical balancing --- p.58 === Chapter 5.1.2 --- Tilt-up motion --- p.62 === Chapter 5.1.3 --- Discussions --- p.62 === Chapter 5.2 --- Implementation --- p.65 === Chapter 5.2.1 --- Vertical balanced motion --- p.65 === Chapter 5.2.2 --- Tilt-up motion --- p.68 === Chapter 5.3 --- Combined motion --- p.70 === Chapter 5.4 --- Discussions --- p.72 === Chapter 6 --- Shared Control --- p.74 === Chapter 6.1 --- Concept --- p.74 === Chapter 6.2 --- Schemes --- p.78 === Chapter 6.2.1 --- Switch mode --- p.79 === Chapter 6.2.2 --- Distributed mode --- p.79 === Chapter 6.2.3 --- Combined mode --- p.80 === Chapter 6.3 --- Shared control of Gyrover --- p.81 === Chapter 6.4 --- How to share --- p.83 === Chapter 6.5 --- Experimental study --- p.88 === Chapter 6.5.1 --- Heading control --- p.89 === Chapter 6.5.2 --- Straight path --- p.90 === Chapter 6.5.3 --- Circular path --- p.91 === Chapter 6.5.4 --- Point-to-point navigation --- p.94 === Chapter 6.6 --- Discussions --- p.95 === Chapter 7 --- Conclusion --- p.103 === Chapter 7.1 --- Contributions --- p.103 === Chapter 7.2 --- Future work --- p.104 |
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