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This paper presents an inchworm inspired soft robot composed of the soft body, the front foot as well as the back foot. Compared to the traditional inchworm-type robot consisting of rigid components, the driven mode for the soft robot is more simple. The soft robot inspired by the inchworm has higher locomotion efficiency than the other bionic soft robot. The main idea of this paper is to imitate...
This paper proposes a novel, laser-based localization method for the autonomous mobile robot in transformer substations. Iterative closet point (ICP) algorithm has been widely used in current laser localization system for locating the mobile robot. However, after initialization, current localization system cannot finish positioning without human assistance. There is a growing interest in finding an...
Power-efficient fluidic driven system is beneficial to extending the working time of autonomous and wearable soft robots supplied by independent power sources such as batteries. In this paper, an energy recovery scheme is proposed to reutilize the pressurized air released by retracting pneumatic soft actuators instead of venting to atmosphere. The scheme's novelty lies in an air accumulator employed...
Water strider is an amazing insect that can effortlessly float, quickly run and jump on a water surface without drowning. It's of great challenge and interest to design and fabricates a micro robot that can walk on a water surface like water strider to carry out aquatic tasks such as water quality monitoring, aquatic exploration, water search and rescue. In this study, we designed a new type of biologically...
Eccentric paddle mechanism based on epicyclic gear mechanism (ePaddle-EGM) is a novel locomotion mechanism designed for amphibious robot. The epicyclic gear mechanism is the key component of ePaddle-EGM to perform multiple gaits. In this paper, efficiency of the epicyclic gear mechanism is analyzed. Via the virtual power flow, we characterize how the efficiency relates with the velocity ratio and...
In this paper, we present a novel real-time velocity estimation algorithm. A sensor assembly consisting of a monocular camera and an inertial measurement unit with three-axis accelerotmeter and gyroscope is considered. To improve the robustness of the velocity estimator with respective to image noise, we apply a coarse-to-fine structure based on multiple feature correspondences over three consecutive...
As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure...
Conventional vascular interventional surgery (VIS) is performed under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to position and adjust catheter operating system Furthermore, traditional...
This paper discusses the soccer robot orientation method which is based on sight, and locates soccer robot by using method based on color shape as well as establishes threshold segmentation, edge detection and the model of Hough transform for circle detection with an emphasis in threshold segmentation and Hough transform. Several methods are used for threshold segmentation, evident difference of images...
The paper mainly introduces a robot massage evaluation system Based on fuzzy set theory. The main purpose is to combine mathematics of fuzzy with the massage process of the traditional Chinese medicine massage therapy robot,and design an massage evaluation expert system. The system makes the evaluation of the traditional Chinese medicine massage scientific and effective.
Due to huge computational loads and the state of art of current hardware, nowadays how to implement real-time vision tasks on a signal chip is still a great interesting work. It is critical for eventually accomplishing biointelligence on robots, whatever humanoid robots, insect robots or even space robots. This paper presents a design of a so-called visual brain chip for robotic vision applications...
Firstly, based on the principle of binocular vergence eye movements ,a new type of method about field fixed point landing of the Subminiature robot helicopter is put forward. Secondly, according to oculomotor neural pathways, the oculomotor control system model is established. Then the control model of SHR landing system is discussed in detail. Some key problems about the control system are stressed...
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