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This paper introduces a slope detection method based on point cloud data from 3D LiDAR for quadruped robots in unknown environments. For quadruped robots, they need to adjust their gaits according to different slope angles to avoid some potential dangers. 3D LiDAR is used to gather point cloud data, which is superior to 2D LiDAR in speed and accuracy. In this paper, a slope detection method using...
In this paper, a novel vision-based method for roll angle estimation of the robot is proposed. Inspired by biological visual cortex, scales and shapes of local patterns whose directions may contribute to the judgment of the scenes' gravity and horizon are determined. On this basis, a local direction detector is designed and all the detected local directions in an image are summed up into the direction...
The swimming backward method for biomimetic carangiform robotic fish is analyzed in this paper based on the dynamic/kinematic model. The equation of Lagrange of multi-link carangiform robotic fish and simplified fluid force are inducted to calculate the dynamic and kinematic characteristics of the motions. A specific gait is calculated to make the profile of the carangiform robotic fishpsilas undulation...
This paper proposes a hunting control approach for multiple mobile robots with local sensing. Predator Robot (PR) requires the sensing information and makes decision without communication with other PRs. The cooperation may emerge by local interactions among the robots. The invader (IR) is given the intelligent ability to escape. Experiments results show the validity of the proposed approach.
In this paper, a novel biomimetic robot fish FAC-I with 3-D locomotion is designed for underwater exploration and surveillance. It is equipped with CCD camera, infrared and pressure sensors to acquire the outside information. The robot fish has a tail thruster imitating the dolphin motion, a pair of pectoral fins and a buoyancy-adjusting mechanical structure BAMS. The tail thruster provides the main...
This paper proposes an obstacle forbidden zone based motion planning approach for multiple robots in unknown environments. In order to avoid possible collisions, the concept of forbidden zone is introduced, and the recurrent least square algorithm with restricted scale is adopted to anticipate the motions of other robots. After eliminating those candidate directions that are blocked by static and...
In this paper, a method for the posture control of a biomimetic robot fish TPF-I is proposed. In this method, the position of the robot fish's gravity centre can be changed by a barycenter-adjustor, which leads to the pitching angle changing. Propelled by coordinating a multi-link body and a tail, the robot fish can complete the posture control and 3-D Locomotion. The 3-D locomotion and posture control...
In this paper, we developed a robot fish consisting of a fish body, a two-linked fish tail and two 2-DOF pectoral fins. In order to make robot fish detect obstacles and perceive its postures, three infrared sensors and a gyro are fixed on the fish body. And an artificial CPG controller consists of four neural oscillators with sensory information feedback have been designed. This controller can generate...
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