The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This work is inspired by the problem of planning multiple robots in a shared workspace. The goal is to find out a sequence order for coordinating the paths of robots so as to avoid collisions among them and deadlocks, that is, situations where each robot is waiting for the other to proceed. We assume that the workcell is known and the paths of robots can be planned in advance and all the robots move...
During endoscopic sinus surgery, to perform complex surgical procedures in the delicate nasal cavity, endoscope holding devices are needed. This paper presents a novel robotic system with safe locking and easy to release system that assists surgeons in holding the endoscope. The presented robotic system has eleven degrees of freedom (DOF). The robot consists of an elevator mechanism, a positioning...
We present the design and implementation of a multi-input and multi-controller system architecture for mobile robots. The proposed system architecture is divided into interchangeable modular subsystems with common interfaces. The paper details the development of a prototype to test the proposed architecture and the implementation of the architecture with the Robot Operating System. Results from indoor...
For a biped pole-climbing robot (BiPCR) with dual grippers to climb poles, trusses or trees, a feasible collision-free climbing path is inevitable. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan a feasible single-step collision-free climbing motion for BiPCRs in spatial trusses. Under the orientation limit of a 5-DoFs BiPCR, a new state representation along with corresponding...
For the convenience of complex trajectory programming of robot and in order to enrich robotic off-line programming (OLP) types, this paper presents an efficient robotic OLP method based on DXF files of 3D modeling software. By decoding DXF files, the 3D position information of object graphic elements such as points, lines, arcs and splines are first extracted, all the graphic elements are then converted...
One of the main problems associated with vision-based SLAM is the difficulty to find high-quality and indistinguishable landmarks which are detectable across significant viewpoint changes. Most of the current visual SLAM systems utilize the feature extraction methods that have been proposed for the offline computer vision tasks, which are either too slow for a real-time SLAM or not robust enough against...
Combining the advantages of active and passive walking robots, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, and four walking gaits, namely turning-around...
The indoor air pollution produced by the ventilating system of the central air-conditioning draws many people's attention. In this paper, a new style of the central air-conditioning pipe aseptic sampling inspection robotic system is developed. The entire system comprises three parts: the caterpillar robot, computer and control box. Through real-time video transferred from cameras on robot, operators...
Mobile robots have been extensively investigated since the early development of robotics and widely used in indoor and outdoor environments. However, with almost all existing wheeled robots, the distance between the wheels are constant and orientation of the wheels (except for the steering ones) are fixed with respect to the robot body, which limits their adaptability to environments. To overcome...
Modules have been widely used in the development of re-configurable robots and snake-like robots. Modular methodology can also be applied in design of other robots. To build robots flexibly and quickly with low costs, we have developed two basic joint modules and several functional modules including grippers, suckers and wheels/feet as end-effectors. In this paper, we introduce the development of...
Nature has demonstrated that geometrically interesting and functionally useful structures can be built in an entirely distributed fashion. We present a biologically-inspired model and several algorithms for three-dimensional self-assembly, suitable for implementation by very simple reactive robots. The robots, which we call assembly components, have limited local sensing capabilities and operate without...
Multiple-robot systems (MRS) that are decentrally organized have many benefits over centralized systems. Decentralized systems are less affected by computational and communicative bottlenecks, and they are more robust to the loss of individual member robots. System-level cognitive operations, though, are much more difficult to implement in decentralized systems. One example is the best-of-N decision-making...
Behavior-based controllers for complex missions often are more easily designed by decomposing the mission into a series of smaller subtasks. When applying this technique to a multiple-robot system, the entire system should focus its work on one subtask at a time to prevent interference from robots working on conflicting subtasks simultaneously. We present a behavior-based approach to the task-sequencing...
In this paper, we propose a numerical approach to generate the workspace of a multifingered robotic hand manipulating an object in the 3-D case. Based on feasibility analysis of grasps, the proposed approach uses a numerical optimization technique to first compute discretely the boundary of the possible motion of the grasped object, and then the limits of rotation about various axes at a specified...
The knowledge of the workspace of a robotic multifingered hand is crucial in order to plan grasp and dexterous manipulation, as in the cases of other robotic systems. In this paper, we propose a numerical approach to compute and visualize the workspace of a multifingered robotic hand manipulating an object in the planar case. Based on feasibility analysis of grasps, the proposed approach uses a numerical...
Ecological studies of shallow water and wetland habitats are often hindered by difficulty accessing remote sites. Current methods of data acquisition, are either lack of the flexibility that is critical to characterizing conditions or organisms in dynamic habitats (such as physical sampling, mounting sensors in the field), or too big and expensive to work in shallow water or wetland habitats (such...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.