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The present paper describes a legged robot equipped with an omni-directional winch mechanism to climb up and down steep inclines. A small and omnidirectional winch mechanism is developed for robots moving in rubble environments. The wire of the winch mechanism can pull a robot on steep inclines. The developed winch mechanism has a guide which can reel up and release a wire in all directions. A legged...
This work address the issues and difficulties related to the design of an autonomous robot capable of performing unknown objects segmentation and material classification task. One of the most challenging aspects of such a system is that the robot has to segment unknown objects from a complicated scene and in the proximity of other objects. In this paper, illuminations of different frequencies are...
In the recent years, the demand for micro and nano motion devices has increased in many industrial applications such as assembling micro machines, manipulating biological cells, and micro-surgical operations like neurosurgery and ophthalmology. As a result, there is an urgent need to develop micro-nano manipulators capable of performing very small motion with high resolution and sometimes with high...
New gait planning using a nonholonomic model with difference equation constraints is proposed for biped robot walking. A model of a pivoting telescopic segment is used as the kinematic foothold selection model of a bipedal robot. The repetitive and discontinuous constraints of pivoting, expanding, and contracting make up the set of walking trajectory data. The k-step reachable region is defined as...
In this study we explored basic dimensions used to perceive humanoid robots and developed a scale to evaluate perception of humanoid robots, PERNOD. Previous studies of perception of humanoid robots used psychological scales created for interpersonal perception between humans. This study clarified the basic dimensions of perception of humanoid robots and developed PERNOD by means of psychological...
In this paper, we presented a design for an automated single cell loading and supply system that can be used with complex microfluidic applications requiring single cell loading such as the current nuclear transplantation method. The aim of the system is to automatically transfer mammalian donor (~15 ??m) or egg (~100 ??m) cells one by one from a container to a PDMS micro-channel and then transport...
We have proposed cell coupling system for mammalian somatic cell cloning process in microfluidic chips. There are two kinds of nuclear transfer methods, microinjection and cell fusion; we selected the cell fusion method. Unlike the conventional method by the manual labor under the microscope, our aim is developing automated cloning work which is being performed in microfluidic chip. Although this...
An obstacle avoidance method using virtual impedance wall is proposed for multi-legged robot. The swing leg employs compliance control to avoid the collided object and the robot keeps the moving direction as much as possible while swing legs keep a preferred operating region. The preferred operating region is surrounded with virtual impedance wall. When the leg comes to go over the threshold of preferred...
Rotation is one of efficient transportation method for big or heavy object. For implementing the rolling operation to the small and light weight robot, the friction control is necessary considering its movable range, balance and actuator power. In this paper, we propose a new rolling manipulation by using whole body motion for multi-legged robot. The weight shift control is implemented considering...
New dynamic rolling-walk motion for multi-legged robot with Sensory Compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the Preview Control of Zero Moment Point with cart-table model based on the bipedal robot technique, the robot's center of mass trajectory is planned for the dynamic motion...
In this paper, user-friendly micro manipulation system for the bio-medical scientist is introduced. An operator usually is not familiar with robot technology. However, supports for RT system have great means for such users. So, user friendly system architecture is necessary to provide useful operation scheme. In this paper, the component-based architecture for micro manipulation system is proposed...
The interest in dynamically tuning lens has attracted great attention to fabricate compact vision systems. Here, we discuss the fabrication and characterization of a simple, tunable, yet fully disposable, except imaging sensor, microfluidic-based optical device. The desired compact system is structured on a PDMS microfluidic. Tunable lens actuated by flow pressure (2 mm in diameter) is controlled...
Micro robotics is a significant area to be able to manipulate micro level objects dexterously. Until now, various micro manipulation systems have been presented. In micro environment, different kinds of objects have different dimensions. Some of them are a few micrometers (??m) such as donor cells, some of them are more than a hundred ??m such as egg cells. At this point, a manipulator which has multi-scale...
Recently, micro valves to control some kinds of fluids in channels in a microchip have been developed. Now we pay attention to in-chip somatic cell cloning with microfluidic technology. There are some steps, cell supply, cutting, sorting, coupling, fusion and so on, for this work. And we focused on a cell supply system spending cells one by one in microfluidic chip, and attempt to transport an individual...
A new convergence calculation method of the normal distributions transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs interactive closest point (ICP) algorithm to find corresponding point, and it also enlarges the...
A two-fingered micro hand has been available for use for years and allows dexterous manipulation of a single cell: grabbing, positioning, rotating and releasing. The end-effector of this micro hand consists of two glass needles; however, the glass tips must be finely adjusted and the micro hand must be calibrated prior to use. Because these initial procedures require highly skilled human operators...
In this paper, we propose a sensor for detecting particles flowing in a micro channel fabricated with polydimethylsiloxane (PDMS) chip. A light source placed at one side of a micro channel irradiates the micro channel through plastic optical fibers (POF), and a detector placed at the opposite side of the micro channel receives light transmitted through the POF. Since this sensor simultaneously detects...
Finding objects and tracking their poses are essential functions for service robots, in order to manipulate objects and interact with humans. We present an approach for object detection and 3D pose estimation for autonomous mobile robots, that is suitable for general uses in a modularized robot control system. Our approach extracts local features from the input images, searches for the reference pattern,...
In this paper, we presented a design for an automated cell supply system that can be used with complex microfluidic applications requiring single cell loading such as the current nuclear transplantation method. The aim of the system is to automatically transfer mammalian donor (~15 ??m) or egg (~100 ??m) cells one by one from a container to a PDMS micro-channel and then transport them to other modules...
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