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Based on the excellent mechanical structure of the wheel-foot multi-joint mobile robot, we have strictly deduced the direct and inverse kinematical formulas of the robot's legs. So the theoretical method and technology of gaits control for the wheel-foot multi-joint mobile robot have been explored out. By precisely analyzing the obstacle performance and the workspace of the robot's feet, the constraints...
Navigation system based on GPS/INS is modeled in this paper. According to the model, the causes of the errors in measurement equation are analyzed, concluding that HDOP (horizontal dilution of precision) and VDOP (vertical dilution of precision) of GPS are the crucial factors for the change of measurement noise in the mathematical model. In order to decrease the navigation errors and improve the anti-interference...
Realistically there are many robot joints in the biologically inspired hexapod robot, so they will generate many complexities in the calculations of the gait and the path planning and the control variables. Facing this status quo, we mainly adopt Solidworks as well as MSC.ADAMS to simulate and analyze the prototype model of the robot. By the simulations on our design, the applicability of the tripod...
A novel ultrasonic ranging system based on the self-correlation of pseudo-random sequence is designed in this paper. Modular design is applied in this ultrasonic ranging system, which can measure the ultrasonic propagation velocity and transit time accurately, and then calculates the obstacle's distance. Low power consumption and high performance TMS320VC5509A DSP is used as the ultrasonic ranging...
Biologically inspired legged robots have great potential both as research tools and as products designed for use in dangerous situations or in places inaccessible to humans. Localization and navigation technology plays a key role in the biologically inspired legged robot research. In this paper, a localization and navigation system of biologically inspired hexapod robot based on the TMS320VC 5509A...
Effective distorted digital image correction is the precondition of target detection and recognition based on machine vision. To overcome traditional distortion correction algorithms' shortcomings, such as complex modeling, massive computation and marginal information loss, an image distortion correction algorithm based on quadrilateral fractal approach controlling points is proposed. This algorithm...
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