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Recently Manipulation capability is important for a robot. Interaction between a robot hand and objects can be properly controlled only is suitable sensors are available. Recently the tendency is to create robot hands more compact and high integrated sensors system, in order to increase the grasping capability and in order to reduce cabling through the finger, the palm and the arm. As a matter of...
This paper deals with the stable walking for a humanoid robot, on uneven terrain, A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated...
An integrated force and tactile sensor with embedded electronics has been presented in a lightweight flexible hand with 13 D.O.F, and the associated visual feedback control. The sensor consists of a three components commercial force sensor and of a custom matrix tactile sensor based pressure sensitive conductive rubber. The joint used of both tactile and force information allows the direct solution...
The autonomous mobility for the biped robot KU-ROBO in the home environment is realized base on the development of a small stereo vision system, the recognition of floor and obstacles using plane extraction. The terrain is represented in a robot centric coordinate system without making any structural assumptions about the surrounding world. And the representation of a terrain map based on these observations,...
We have proposed the integration of robust voice recognition and navigation system capable of performing autonomous navigation in unknown environments. In order to evaluate the performance of the overall system, a number of experiments have been undertaken in various environments. The experimental results show that the mobile robot with the complete voice recognition and navigation system can arrive...
This paper describes the design and real implementation of wall following and fuzzy perception concept with a non-holonomic mobile robot named KHAN-Robo. The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked...
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