Department of Robotics and Mechatronics

Research Output 2010 2019

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2019

A neuromorphic control architecture for a biped robot

Folgheraiter, M., Keldibek, A., Aubakir, B., Gini, G., Franchi, A. M. & Bana, M., Oct 1 2019, In : Robotics and Autonomous Systems. 120, 103244.

Research output: Contribution to journalArticle

Biped Robot
Trajectories
Robots
Module
Trajectory
Energy conversion
Wind power
Torque
Systems analysis
Control systems
Binary Classification
Discriminant analysis
Discriminant Analysis
Misclassification
Gaussian distribution

Development of a Power Assist Lifting Device with a Fuzzy PID Speed Regulator

Raziyev, Y., Garifulin, R., Shintemirov, A. & Do, T., Jan 1 2019, In : IEEE Access. 7, p. 30724-30731 8 p., 8660631.

Research output: Contribution to journalArticle

Open Access
Speed regulators
Controllers
Fuzzy logic
Control systems
Systems analysis

Energy-Aware Optimal Control of Variable Stiffness Actuated Robots

Zhakatayev, A., Rubagotti, M. & Varol, H. A., Apr 1 2019, In : IEEE Robotics and Automation Letters. 4, 2, p. 330-337 8 p., 8598982.

Research output: Contribution to journalArticle

Motion planning
Stiffness
Optimal Control
Motion Planning
Robot

Generalized Dynamics of Stacked Tensegrity Manipulators

Fadeyev, D., Zhakatayev, A., Kuzdeuov, A. & Varol, H. A., Jan 1 2019, In : IEEE Access. 7, p. 63472-63484 13 p., 8713969.

Research output: Contribution to journalArticle

Manipulators
Kinematics
Actuators
Damping
Topology

Semi-Autonomous Robot Teleoperation with Obstacle Avoidance via Model Predictive Control

Rubagotti, M., Taunyazov, T., Omarali, B. & Shintemirov, A., Jul 1 2019, In : IEEE Robotics and Automation Letters. 4, 3, p. 2746-2753 8 p., 8718327.

Research output: Contribution to journalArticle

Teleoperation
Autonomous Robots
Obstacle Avoidance
Model predictive control
Model Predictive Control
2018
2 Citations (Scopus)

Age- and Gender-Based Differences in Children’s Interactions with a Gender-Matching Robot

Sandygulova, A. & O’Hare, G. M. P., Nov 1 2018, In : International Journal of Social Robotics. 10, 5, p. 687-700 14 p.

Research output: Contribution to journalArticle

Robots
Experiments
4 Citations (Scopus)

A Generalized Observer for Estimating Fast-Varying Disturbances

Do, T. & Nguyen, H. T., May 3 2018, In : IEEE Access. 6, p. 28054-28063 10 p.

Research output: Contribution to journalArticle

Derivatives
Energy conversion
Error analysis
Wind power
MATLAB
3 Citations (Scopus)

Constrained orientation control of a spherical parallel manipulator via online convex optimization

Taunyazov, T., Rubagotti, M. & Shintemirov, A., Feb 1 2018, In : IEEE/ASME Transactions on Mechatronics. 23, 1, p. 252-261 10 p.

Research output: Contribution to journalArticle

Convex optimization
Manipulators
Inverse kinematics
Constrained optimization
1 Citation (Scopus)

Data Descriptor: Human grasping database for activities of daily living with depth, color and kinematic data streams

Saudabayev, A., Rysbek, Z., Khassenova, R. & Atakan Varol, H., May 29 2018, In : Scientific data. 5, 180101.

Research output: Contribution to journalArticle

Grasping
Data Streams
Descriptors
Kinematics
Color
3 Citations (Scopus)

Design and Modeling of a Lightweight and Low Power Consumption Full-Scale Biped Robot

Folgheraiter, M. & Aubakir, B., Oct 1 2018, In : International Journal of Humanoid Robotics. 15, 5, 1850022.

Research output: Contribution to journalArticle

Electric power utilization
Robots
Recurrent neural networks
Kinematics
Rigidity
1 Citation (Scopus)

Fault/State Estimation Observer Synthesis for Uncertain T-S Fuzzy Systems

Vu, V. P. & Do, T., Jan 1 2018, (Accepted/In press) In : IEEE Access.

Research output: Contribution to journalArticle

Fuzzy systems
State estimation
Lyapunov functions
Linear matrix inequalities
Uncertainty
1 Citation (Scopus)

High-order observers-based LQ control scheme for wind speed and uncertainties estimation in WECSs

Le, A. V. & Do, T., Sep 1 2018, In : Optimal Control Applications and Methods. 39, 5, p. 1818-1832 15 p.

Research output: Contribution to journalArticle

Uncertainty Estimation
Wind Speed
Observer
Higher Order
Control System
13 Citations (Scopus)

Simultaneous Selective Harmonic Elimination and THD Minimization for a Single-Phase Multilevel Inverter with Staircase Modulation

Srndovic, M., Zhetessov, A., Alizadeh, T., Familiant, Y. L., Grandi, G. & Ruderman, A., Mar 1 2018, In : IEEE Transactions on Industry Applications. 54, 2, p. 1532-1541 10 p.

Research output: Contribution to journalArticle

Harmonic distortion
Modulation
Electric potential
Switching frequency
Power electronics
2017
2 Citations (Scopus)
machine learning
Intelligent systems
Intelligent Systems
Learning algorithms
Support vector machines
Suboptimal Control
Permanent Magnet Synchronous Motor
Control System Design
Synchronous motors
Robust control
11 Citations (Scopus)

Cluster-head based feedback for simplified time reversal prefiltering in ultra-wideband systems

Soleimani, H., Tomasin, S., Alizadeh, T. & Shojafar, M., Dec 1 2017, In : Physical Communication. 25, p. 100-109 10 p.

Research output: Contribution to journalArticle

Ultra-wideband (UWB)
Feedback
Transceivers
Labels
Transmitters
4 Citations (Scopus)

Design and evaluation of action observation and motor imagery based BCIs using Near-Infrared Spectroscopy

Abibullaev, B., An, J., Lee, S. H. & Moon, J. I., Feb 1 2017, In : Measurement: Journal of the International Measurement Confederation. 98, p. 250-261 12 p.

Research output: Contribution to journalArticle

Near-infrared Spectroscopy
Brain computer interface
Near infrared spectroscopy
imagery
brain
16 Citations (Scopus)

Optimal energy management of a small-size building via hybrid model predictive control

Khakimova, A., Kusatayeva, A., Shamshimova, A., Sharipova, D., Bemporad, A., Familiant, Y., Shintemirov, A., Ten, V. & Rubagotti, M., Apr 1 2017, In : Energy and Buildings. 140, p. 1-8 8 p.

Research output: Contribution to journalArticle

Solar collectors
Model predictive control
Energy management
Intelligent buildings
Controllers
25 Citations (Scopus)

Osmotin-loaded magnetic nanoparticles with electromagnetic guidance for the treatment of Alzheimer's disease

Amin, F. U., Hoshiar, A. K., Do, T., Noh, Y., Shah, S. A., Khan, M. S., Yoon, J. & Kim, M. O., Aug 14 2017, In : Nanoscale. 9, 30, p. 10619-10632 14 p.

Research output: Contribution to journalArticle

Brain
Neurodegenerative diseases
Magnetic fields
Nanoparticles
Drug delivery
7 Citations (Scopus)

Time-optimal control of variable-stiffness-actuated systems

Zhakatayev, A., Rubagotti, M. & Varol, H. A., Jun 1 2017, In : IEEE/ASME Transactions on Mechatronics. 22, 3, p. 1247-1258 12 p., 7858792.

Research output: Contribution to journalArticle

Stiffness
Robots
Planning
2016
5 Citations (Scopus)

Augmenting variable stiffness actuation using reaction wheels

Baimyshev, A., Zhakatayev, A. & Varol, H. A., 2016, In : IEEE Access. 4, p. 4618-4628 11 p., 7552463.

Research output: Contribution to journalArticle

Wheels
Stiffness
Torque
Robots
Momentum
19 Citations (Scopus)

Disturbance Observer-based Fuzzy SMC of WECSs without Wind Speed Measurement

Do Duc, T., Nov 29 2016, (Accepted/In press) In : IEEE Access.

Research output: Contribution to journalArticle

10 Citations (Scopus)

Numerical Optimal Control of a Spherical Parallel Manipulator Based on Unique Kinematic Solutions

Shintemirov, A., Niyetkaliyev, A. & Rubagotti, M., Feb 1 2016, In : IEEE/ASME Transactions on Mechatronics. 21, 1, p. 98-109 12 p., 7229355.

Research output: Contribution to journalArticle

Servomotors
Manipulators
Kinematics
Trajectories
Convex optimization
2015
7 Citations (Scopus)

A combined B-spline-neural-network and ARX model for online identification of nonlinear dynamic actuation systems

Folgheraiter, M., Jul 8 2015, (Accepted/In press) In : Neurocomputing.

Research output: Contribution to journalArticle

Neural Networks (Computer)
Nonlinear Dynamics
Splines
Identification (control systems)
Neural networks
2 Citations (Scopus)
5 Citations (Scopus)
Robot
Robots
Humanoid Robot
Manipulation
Perception
29 Citations (Scopus)

Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control

Zhakatayev, A., Rubagotti, M. & Varol, H. A., 2015, In : IEEE Access. 3, p. 235-248 14 p., 7073614.

Research output: Contribution to journalArticle

Model predictive control
Stiffness
Robots
Trajectories
Human robot interaction
7 Citations (Scopus)

Locomotion strategy selection for a hybrid mobile robot using time of flight depth sensor

Saudabayev, A., Kungozhin, F., Nurseitov, D. & Varol, H. A., 2015, In : Journal of Sensors. 2015, 425732.

Research output: Contribution to journalArticle

locomotion
robots
Mobile robots
Stairs
Robots
11 Citations (Scopus)

Multirate sliding mode disturbance compensation for model predictive control

Raimondo, D. M., Rubagotti, M., Jones, C. N., Magni, L., Ferrara, A. & Morari, M., Nov 10 2015, In : International Journal of Robust and Nonlinear Control. 25, 16, p. 2984-3003 20 p.

Research output: Contribution to journalArticle

Model predictive control
Controllers
Sliding mode control
Compensation and Redress
Robustness (control systems)
25 Citations (Scopus)

Sensors for robotic hands: A survey of state of the art

Saudabayev, A. & Varol, H. A., 2015, In : IEEE Access. 3, p. 1765-1782 18 p., 7283549.

Research output: Contribution to journalArticle

End effectors
Sensors
Robots
Prosthetics
Control systems
19 Citations (Scopus)

θ-D Approximation Technique for Nonlinear Optimal Speed Control Design of Surface-Mounted PMSM Drives

Do, T., Choi, H. H. & Jung, J. W., Aug 1 2015, In : IEEE/ASME Transactions on Mechatronics. 20, 4, p. 1822-1831 10 p., 6917028.

Research output: Contribution to journalArticle

Synchronous motors
Speed control
Permanent magnets
Riccati equations
Controllers
2014

Embedded gesture recognition system for robotic applications

Begalinova, A. & Shintemirov, A., Jan 1 2014, In : Eurasian Journal of Mathematical and Computer Applications. 2, 4, p. 81-89 9 p.

Research output: Contribution to journalArticle

Gesture recognition
Gesture Recognition
Robotics
Embedded systems
Mobile Robot
5 Citations (Scopus)

Low-complexity piecewise-affine virtual sensors: Theory and design

Rubagotti, M., Poggi, T., Oliveri, A., Pascucci, C. A., Bemporad, A. & Storace, M., Mar 4 2014, In : International Journal of Control. 87, 3, p. 622-632 11 p.

Research output: Contribution to journalArticle

Sensors
Hardware
Computer hardware description languages
Digital circuits
Field programmable gate arrays (FPGA)
7 Citations (Scopus)

Robust explicit model predictive control via regular piecewise-affine approximation

Rubagotti, M., Barcelli, D. & Bemporad, A., Dec 1 2014, In : International Journal of Control. 87, 12, p. 2583-2593 11 p.

Research output: Contribution to journalArticle

Model predictive control
Digital circuits
Asymptotic stability
Closed loop systems
2013
10 Citations (Scopus)

Stability and invariance analysis of uncertain discrete-time piecewise affine systems

Rubagotti, M., Trimboli, S. & Bemporad, A., 2013, In : IEEE Transactions on Automatic Control. 58, 9, p. 2359-2365 7 p., 6475975.

Research output: Contribution to journalArticle

Invariance
Lyapunov functions
Asymptotic stability
Linear programming
Dynamical systems
2012
16 Citations (Scopus)

High-speed piecewise affine virtual sensors

Poggi, T., Rubagotti, M., Bemporad, A. & Storace, M., Feb 1 2012, In : IEEE Transactions on Industrial Electronics. 59, 2, p. 1228-1237 10 p., 5936726.

Research output: Contribution to journalArticle

Digital circuits
Sensors
Nonlinear systems
Sampling
Hardware
9 Citations (Scopus)

Modeling and control of an airbrake electro-hydraulic smart actuator

Rubagotti, M., Carminati, M., Clemente, G., Grassetti, R. & Ferrara, A., Sep 1 2012, In : Asian Journal of Control. 14, 5, p. 1159-1170 12 p.

Research output: Contribution to journalArticle

Actuators
Hydraulics
Avionics
Sliding mode control
Aviation