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A hybrid path planner combining global optimization and quick obstacle avoidance is proposed for nonholonomic mobile robot path planning in partially known environments. This method can not only effectively plan a global optimal path using the prior environment information, but also quickly avoid the unknown obstacles based on the laser scanning. Using grid point sequence to represent the workspace,...
Wheelchair mounted robotic arm is an assistive device designed to help physical disabled people to recover some manipulation capabilities in activities of daily livings. During task execution of wheelchair mounted robotic arm applications, both the requirement of safety and task accomplishment has to be satisfied. We have developed a wheelchair mounted robotic arm with mechanical gravity compensation,...
Autonomous docking is an essential capability for self-reconfigurable robots. In this paper, a measurement system based on ultrasonic sensors for measuring distance between two mobile modules is firstly introduced. Then, triangle localization arithmetic for measuring the relative position/orientation between two mobile modules to implement docking is analyzed. Considering inherent drawbacks of triangle...
JL-2, as a new version of the JL reconfigurable mobile robot system, features not only a docking and 3D posture adjusting capability between its robots, but also a multi-functional docking gripper. The basic concept of JL is that the robots in the system can simultaneously perform basic tasks in flat terrains, and in the case of rugged terrains, the robots can interconnect to enhance their locomotion...
Mobile robot localization is an important issue in the service robotics area, which is to determine the position of a robot given a map of its environment. In this paper, we described a robust self-localization approach for mobile robot based on particle filtering, which is a sophisticated model for robust estimation. In this method a large number of hypothetical current particles are initially generated...
Path planning for robots with many degrees of freedom (dof) receives continuous interest in both robotics and computer graphics communities. A variety of random sampling-based methods have been proposed to solve the path planning problems in high-dimensional configuration space, including Probabilistic Roadmap Method (PRM) and Rapidly-exploring Random Trees (RRTs). However, the efficiency will be...
A new classification of robot cognitive models is presented in terms of knowledge representation, which clarifies the importance of tacit knowledge in robot cognitive model research. A robot cognitive model based on procedural memory and episodic memory is proposed, and every module in this cognitive model is designed in detail. High-level intelligent behaviors can emerge totally by using experiences...
This paper presents a novel passive adhesion principle which is used firstly for an inspired modular climbing caterpillar project. After a related survey on the natural creatures which can climb on the vertical surface with different materials, a systematical summarizing on four attachment methods adopted by climbing robots worldwide is given. Then a low-frequency vibrating passive attachment principle...
In this paper, a novel vibrating method based on the principle of vibrating suction method is presented, which is called pulse vibrating method. To discuss this method in depth and evaluate its performance, simplified mathematical model based on some assumptions for both the previous sin vibrating method and the pulse vibrating method are built, and a new experimental platform is developed as well...
This paper presents an illumination adaptive color object recognition method for robot soccer match. Generally, the colors are identified by referring to the pre-defined bounds for the components of each color. However, it is not an easy work to define non-interfered bounds for different colors, and the bounds are sensitive to illumination conditions. Instead, in this work, different colors are discriminated...
JL-1 is a reconfigurable multi-robots system based on parallel mechanisms and cone-shaped docking mechanisms. To reveal how the force cooperation between robots enhances the terrain adaptability of JL-1 and to discover the limits of the current reconfiguration mechanism, this paper analyzes the forces arising between robots during cooperation in docking and docked state. The static analysis of the...
Multi-segment robotpsilas adaptation to rough terrain is much better than traditional single robot, because of the force cooperation between segments. One kind of multi-segment robot can undock to modules, which have the ability of locomotion and perform some simple tasks. JL-1 robot is one of this kind of robots. The most notable characteristics of this robot are module-based and reconfigurable,...
A new experimental tool calibration method is proposed to upgrade the accuracy of robotic conformance grinding system. The horizontal axis deflexion error of grinding tool achieved by this new method is below 0.05 degree, and the calibration method turns to be easy and practical. Based on the conclusion of the universal calibration methods for the static contact wheel, the tool of grinding, the authors...
Autonomous docking between independent robotic modules is critical for self-reconfigurable robots. This ability allows independent reconfigurable robots in the same environment to join together to complete a task that would otherwise not be possible with the individual robots prior to merging. This paper presents an easy and inexpensive implementation of such a system using only one ultrasonic transmitter...
Based on the vermicular motion of the pine caterpillar and inchworm, this paper presents two novel module climbing caterpillar kinematics models. The analysis of the valid gaits and climbing safety of them indicates the differences of two models. The pine caterpillar model with all active joints has the disadvantage of introducing the redundant actuating to its locomotion but higher security than...
Towards large-scale environment, a novel metric-topological 3D map is proposed in our vision-based self localization system. Based on probabilistic line elements with directional information, the local metric map is developed using different feature levels. Then, the adjacent local metric maps are connected by topological structures. We design a nonlinear camera model which propagates directional...
In this paper, we propose a locomotion control algorithm for a climbing worm robot based on neural oscillator network (NON). According to the structure and locomotion feature of the climbing worm robot, the trapezoidal wave gait and triangular wave gait are defined. Then the cyclic inhibitory central pattern generator (CPG) model and mutual inhibitory CPG model are adopted to control the climbing...
At first, this paper briefly introduces a novel reconfigurable mobile robots system JL-1 and the serial and parallel mechanism using to perform the reconfiguration actions. Based on the kinematics equations of the serial and parallel mechanism, the static transformation equations of it are concluded according to the virtual work theory, which is useful in determining the drivable workspace of the...
In this paper, we focus on the practical design of on-the-fly self-localization system for mobile robot which operates in 3D environment. A concurrent general frame for this system is proposed, in which the information collected from odometer and unidirectional camera are integrated. We build the nonlinear models for these two physical sensors and design an efficient data structure for the CAD landmarks...
This article is concerned with cooperative control problems in formation of mobile robots under the nonholonomic constraints that certain geometrical constraints are imposed on multiple mobile robots throughout their travel. For this purpose, a new method of motion control for formation is presented, which is based on the dynamic regulation and scheduling scheme. It is attractive for its adaptability...
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