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This paper proposes the design and experiment of a bioinspired wall-climbing robot with spiny arrays. Inspired by the Serica orientalis Motschulsky's tarsal system, a spiny structure is designed, and the robot's foot which has two grippers using the structure is designed. An inchworm-like gait is employed and its trajectory is planned. The robot's foot as well as the whole prototype is fabricated...
The inverse dynamic of the leg with a (2-UPS+U)R series-parallel mechanism of the hybrid rescue robot is analyzed in this paper. First, the constrained relationships in the leg are determined, and the 6×6 Jacobian matrices of the series-parallel leg are derived and presented. Second, the velocity, acceleration, angular velocity and acceleration of center of mass in each link are solved and the dynamic...
Outdoor discrimination of fruits based on image processing technology is worth studying. Previous studies and technologies are discussed, then a new technology based on region features, which taken tomato as subject, is presented. The discriminating process includes gray transformation, region edge enhancement, region segmentation and other process. 70 images are tested with the technology and the...
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