Innovations in Robotic Design, Control, and Rehabilitation Dynamics explores a wide range of topics, from biomechanics-inspired exoskeletons to neural control strategies for mobile robot swarms. From autonomous vehicles to medical robotics, this book delves into the latest advancements in modeling, dynamics, and control. Each chapter offers insights essential for navigating the complexities of modern robotic systems. By focusing on precise modeling techniques, researchers aim to better understand and predict robot behavior while advanced control strategies optimize performance and adaptability in dynamic environments. With a keen eye on integrating sensory feedback and perception systems, robots are becoming increasingly autonomous and intelligent.
Whether you're interested in cable-driven haptic devices or AI-enhanced biosensors in medical robotics, this book provides a deep-dive into cutting-edge developments shaping the future of robotics.
1. 11.1 Introduction - p. 327 2. 11.2 Related works - p. 329 3. 11.3 Kinematic model and kinematic error model for trajectory tracking - p. 332 4. 11.4 Problem formulation - p. 334 5. 11.5 Gain-scheduled control law design - p. 337 6. 11.6 Simulation results - p. 348 7. 11.7 Conclusion - p. 357 8. References - p. 357 9. Chapter 12. Evaluating usability of a telerehabilitation system for wrist therapy - p. 363 10. Chapter 13. Clustering and formation control in robot swarms using neural networks by Lyapunov barrier functions - p. 379 11. Chapter 14. TOBEXER: Conceptual design of an ankle exoskeleton for rehabilitation and strength augmentation based on scientometric and patentometric analysis - p. 427 12. Chapter 15. Improving robot manipulator control with sliding mode optimization - p. 517 13. Chapter 16. Fixed-time nonlinear control strategies for exoskeletons - p. 547 14. Abstract - p. 547 15. 16.1 Introduction - p. 547 16. 16.2 Related work - p. 549 17. 16.3 Dynamical model of exoskeleton robot - p. 551 18. 16.4 The finite-time and fixed-time stability lemmas - p. 552 19. 16.5 Finite-time controller design for robot - p. 555 20. 16.6 Robust adaptive fixed-time control for the robot manipulator - p. 564 21. 16.7 Numerical simulation - p. 570 22. 16.8 Discussion - p. 575 23. 16.9 Conclusion - p. 575 24. References - p. 575 25. Chapter 17. Enhancing knee exoskeleton control via a robust composite controller using theoretical linear matrix inequality methods - p. 579 26. Chapter 18. Path planning generator for surveillance and tracking mobile ground vehicle by multiple aerial vehicles - p. 617 27. Abstract - p. 617 28. 18.1 Introduction - p. 617 29. 18.2 Related work - p. 619 30. 18.3 Mathematical models - p. 620 31. 18.4 Hopf bifurcation theory around a mobile equilibrium point - p. 628 32. 18.5 3D path planning algorithm for aerial surveillance and landing on a ground mobile vehicle - p. 638 33. 18.6 Numerical simulations - p. 643 34. 18.7 Circular surveillance around a mobile target based on limit cycle tracking - p. 646 35. 18.8 Designing collision-free 3D navigation trajectories for dual unmanned aerial vehicle circular surveillance around moving targets - p. 654 36. 18.9 Discussion - p. 661 37. 18.10 Conclusion - p. 663 38. References - p. 664 39. Chapter 19. Advanced control of quadrotors: sliding mode and disturbance rejection - p. 667 40. Chapter 20. Design methodology for passive mobility devices in lower-limb exoskeletons for strength augmentation - p. 707 41. Index - p. 723
Innovations in Robotic Design, Control, and Rehabilitation Dynamics explores a wide range of topics, from biomechanics-inspired exoskeletons to neural control strategies for mobile robot swarms. From autonomous vehicles to medical robotics, this book delves into the latest advancements in modeling, dynamics, and control. Each chapter offers insights essential for navigating the complexities of modern robotic systems. By focusing on precise modeling techniques, researchers aim to better understand and predict robot behavior while advanced control strategies optimize performance and adaptability in dynamic environments. With a keen eye on integrating sensory feedback and perception systems, robots are becoming increasingly autonomous and intelligent.
Whether you're interested in cable-driven haptic devices or AI-enhanced biosensors in medical robotics, this book provides a deep-dive into cutting-edge developments shaping the future of robotics.
1. 11.1 Introduction - p. 327 2. 11.2 Related works - p. 329 3. 11.3 Kinematic model and kinematic error model for trajectory tracking - p. 332 4. 11.4 Problem formulation - p. 334 5. 11.5 Gain-scheduled control law design - p. 337 6. 11.6 Simulation results - p. 348 7. 11.7 Conclusion - p. 357 8. References - p. 357 9. Chapter 12. Evaluating usability of a telerehabilitation system for wrist therapy - p. 363 10. Chapter 13. Clustering and formation control in robot swarms using neural networks by Lyapunov barrier functions - p. 379 11. Chapter 14. TOBEXER: Conceptual design of an ankle exoskeleton for rehabilitation and strength augmentation based on scientometric and patentometric analysis - p. 427 12. Chapter 15. Improving robot manipulator control with sliding mode optimization - p. 517 13. Chapter 16. Fixed-time nonlinear control strategies for exoskeletons - p. 547 14. Abstract - p. 547 15. 16.1 Introduction - p. 547 16. 16.2 Related work - p. 549 17. 16.3 Dynamical model of exoskeleton robot - p. 551 18. 16.4 The finite-time and fixed-time stability lemmas - p. 552 19. 16.5 Finite-time controller design for robot - p. 555 20. 16.6 Robust adaptive fixed-time control for the robot manipulator - p. 564 21. 16.7 Numerical simulation - p. 570 22. 16.8 Discussion - p. 575 23. 16.9 Conclusion - p. 575 24. References - p. 575 25. Chapter 17. Enhancing knee exoskeleton control via a robust composite controller using theoretical linear matrix inequality methods - p. 579 26. Chapter 18. Path planning generator for surveillance and tracking mobile ground vehicle by multiple aerial vehicles - p. 617 27. Abstract - p. 617 28. 18.1 Introduction - p. 617 29. 18.2 Related work - p. 619 30. 18.3 Mathematical models - p. 620 31. 18.4 Hopf bifurcation theory around a mobile equilibrium point - p. 628 32. 18.5 3D path planning algorithm for aerial surveillance and landing on a ground mobile vehicle - p. 638 33. 18.6 Numerical simulations - p. 643 34. 18.7 Circular surveillance around a mobile target based on limit cycle tracking - p. 646 35. 18.8 Designing collision-free 3D navigation trajectories for dual unmanned aerial vehicle circular surveillance around moving targets - p. 654 36. 18.9 Discussion - p. 661 37. 18.10 Conclusion - p. 663 38. References - p. 664 39. Chapter 19. Advanced control of quadrotors: sliding mode and disturbance rejection - p. 667 40. Chapter 20. Design methodology for passive mobility devices in lower-limb exoskeletons for strength augmentation - p. 707 41. Index - p. 723
