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Continuum Robots have been investigated increasingly in recent years due to their potential applications in minimally invasive surgery (MIS). The constant curvature assumption is widely adopted in modeling the motion of continuum robots. However, due to their limited backbone rigidity, the backbone bending or end-effector position is significantly affected by both the internal driven force and external...
In this paper we present a pneumatic driven soft earthworm robot targeted for gastrointestinal (GI) tract inspection. The robot contains two expanding sections and one extending section with bending function. This allows the robot crawling through tubular environment such as the colon. Pressure inside the actuators are monitored as well, which enables to regulate the PWM delivered to the robot. Three...
In this paper, a concentric wire-driven mechanism (CWM) is presented. The CWM comprises of two nested wire-driven mechanisms (WDM). Each WDM contains a flexible backbone and a set of wires. The backbone bending is controlled by pulling the wires. The stiffness of the outer WDM is controllable and dominants that of the overlapped section. Therefore, in the overlapped section the inner WDM conforms...
In this paper, statics model of an underactuated wire-driven flexible robotic arm is introduced. The robotic arm is composed of a serpentine backbone and a set of controlling wires. It has decoupled bending rigidity and axial rigidity, which enables the robot large axial payload capacity. Statics model of the robotic arm is developed using the Newton-Euler method. Combined with the kinematics model,...
This paper presents a novel double-hull boat with two wire-driven flapping propulsors. The boat comprises two identical hulls and a control center. Each hull is propelled by a biomimetic wire-driven flapping propulsor, which has seven joints, and is driven by one servo motor. Propulsion model of the boat is developed by integrating the reaction force during the flapping cycle. Motion of the boat is...
This paper presents a wire-driven robot fish with a pair of pectoral fins. The fish tail is a wire-driven flapping caudal fin. It is made of 7 vertebras, an elastic backbone and a fin plate. The tail is actuated by two servomotors via two pairs of wires. The wires control the tail flapping like a real fish. The pectoral fin can make two Degrees-Of-Freedom (DOF) motions, i.e. flapping (roll) and feathering...
This paper describes the development of a mobile robot capable of clearing such obstacles as counterweights, crimp connection pipes, anchor clamps, and torsion tower. The mobile robot suspends on overhead ground wires of power transmission lines. Its ultimate purpose is to automate the inspection of power transmission line equipment. The robot with 13 motors has two arms and each arm has 4 degree...
This paper presents a teleoperation system to control mobile robot remotely. To provide adequate information for the operator to be aware of the robot situation, the whole viewpoints scenes are generated in the first and the third person point of view by virtual tools. These scenes provide the maps and the spatial information to the operators. To complete a complex task, operators can conveniently...
In this paper, an Eye-in-Hand robotic system with laser pointer is developed to detect, grasp, and assemble a planar object on a main body in robotic manufacturing systems. This paper is focused on detecting the object and moving the end effector to a position where a pump can perfectly suck up the object. A switching control of image-based visual servoing (IBVS) is designed to control the pose of...
This paper proposes an intelligent emotion decision system (IEDS). Since the existing emotion models take little account of the influence of spontaneous emotional transition, the importance of social status and the diversity of emotional expressive pattern, IEDS is developed to discuss the emotional changes without receiving external stimuli, setting different emotion-selection rules according to...
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