All Outputs (4)

Modelling and motion control of a double-pendulum driven cart (2011)
Journal Article
Liu, Y., Yu, H., & Cang, S. (2012). Modelling and motion control of a double-pendulum driven cart. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 226(2), 175-187. https://doi.org/10.1177/0959651

The significant advantage of ground mobile robots (GMRs) is their accessibility to areas that are inaccessible for humans. One difficulty of current GMR technology is that the external driving mechanisms, such as wheel, track, and leg, restrict its a... Read More about Modelling and motion control of a double-pendulum driven cart.

Self-contained capsubot propulsion mechanism (2011)
Journal Article
Huda, M. N., Yu, H., & Wane, S. O. (2011). Self-contained capsubot propulsion mechanism. International Journal of Automation and Computing, 8(3), 348-356. https://doi.org/10.1007/s11633-011-0591-3

In this paper, a self contained capsubot (capsule robot) propulsion mechanism is investigated. The proposed capsubot works on the principle of internal force-static friction. A modified linear DC motor is used to drive the capsubot. A novel accelerat... Read More about Self-contained capsubot propulsion mechanism.

Adaptive neural network tracking control of robot manipulators with prescribed performance (2011)
Journal Article
Xie, X., Hou, Z., Cheng, L., Ji, C., Tan, M., & Yu, H. (2011). Adaptive neural network tracking control of robot manipulators with prescribed performance. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engin

In this paper, a controller for robot manipulators is proposed to guarantee the tracking error of the systems bounded by predefined decreasing boundary. In this control scheme, a multi-layer neural network is used to approximate the unknown non-linea... Read More about Adaptive neural network tracking control of robot manipulators with prescribed performance.

Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot (2011)
Journal Article
Wang, H., Shi, X., Liu, H., Li, L., Hou, Z., & Yu, H. (2011). Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering,

This paper investigates and proposes a lower-limb rehabilitation robot that is used to help patients with lower-limb paralysis to improve and resume physical functions. The proposed rehabilitation robot has the feature that three rotary joints consis... Read More about Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot.