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This paper presents algorithm design and prototype experiments on an evolutionary swarm self-assembly robot (Sambot). Multiple Sambots can be self-assembled to form a robotic structure further to generate the whole-body locomotion. For whole-body locomotion, a unity control method is more difficult to design than for ordinary robots because self-assembly system can form various configurations. This...
This paper presents a novel self-assembly modular robot (Sambot) that also shares characteristics with self-reconfigurable and self-assembly and swarm robots. Each Sambot can move autonomously and connect with the others. Multiple Sambot can be self-assembled to form a robotic structure, which can be reconfigured into different configurable robots and can locomote. A novel mechanical design is described...
This paper describes the design of a biomimetic inspired fish swimming like UUV based on 2-D ocillating foil mechanism which plays guiding role in biomimetic propulsion research field, the relation between vorticity control and motion control parameters for 2-D ocillating foil has been built, a fuzzy logic vorticity controller is designed to achieve straight line maneuverable swimming and thrust efficiency...
In the paper, a new complete design and implementation of a system on chip solution for CNC system is presented, using FPGA technology. It integrates a general-purpose processor, a motion-control core, an axis-control core, a PLC core, a Wishbone compliant bus and a standard external communication interface on a single FPGA. The proposed CNC system based on SOC has the advantages of high speed and...
A camera can assist a robot to detect and track objects when it is used in a scout robot system, and hence, help the robot to navigate. This paper discusses problems of tracking a human face where an active camera is installed on a 2 DOF pan and tilt. Kinematics model between object in motion and image of camera is built. The face detection and tracking algorithm is introduced which uses complexion...
Modular reconfigurable robot (MRR) with many modules has the ability to form a large variety of robot configuration. For MRR, it is very difficult to design effective controller due to diverse configurations. In this paper, we propose an architecture of reconfigurable controller of MRR based on advanced RISC machine (ARM) processor and field programmable gate array (FPGA). The ARM processor is used...
Flipping control of the tail fin with two degrees, which is drived by two DC servo motors, is a problem of motion control in the condition of high speed and heavy load. lt demands that there be no distortion of transformation of speed and position synchronously. Based on the SPC-III robot fish, a math model used for flipping control is deduced according to the rule of tail fin flipping. In terms of...
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