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To meet the higher requirements of human-machine interface technology, the quadruped robot with human recognition capability is discussed in this paper. We present a marker tracking system which uses laser scanner and pan-tilt to allow a particular user to designate himself as the robot's leader. Optimal motion curve of pan-tilt is planned so as 3D point clouds can be returned by a rotating 2D laser...
In this paper, we tackle the problem of how to locate a single entity with an unknown location in a vast underwater search space. In under-water channels, traditional wave-based signals suffer from rapid distance- and time-dependent energy attenuation, leading to expensive and lengthy search missions. In view of this, we investigate two molecular messaging methods for location discovery: 1) a Rosenbrock...
Tensegrity robots are novel flexible mobile robots based on the conception of “tensegrity structures” that cited from the architecture. Tensegrity robots possess high strength-mass ratio, deformation capacity and shock resistance ability and can adapt to the environment with self-deformations. Existing simulations for tensegrity robots are carried out with Matlab that required complex dynamics modeling...
The shape-shifting robot AMOEBA-I is the rescue-researching robot that can adapt complex environment with different configurations. The robot with line configuration can pass through the narrow space and has the better ability of obstacles. In order to improve the environment adaptability of the robot in line configuration, the turning algorithm is proposed based on the turning-shape algorithm. The...
The shape-shifting robot AMOEBA-I has a variety of configurations and the turning ability of robot in different configurations is largely restricted by the environmental conditions. The turning performance of evaluation is done by qualitative manner and the result of evaluation is vague in recent years. The turning performance of evaluation by quantitative manner is proposed in this article. Through...
The shape-shifting robot is one of the kinds of the robot and it can change it's configuration according to the environment. A method is proposed to solve the shortcomings of the traditional method of robot's chain turning, which can shorten the time and radius of turning. The turning resistance moment can be also reduced. The mathematical model is built and the resistance torque and required force...
Reducing the energy dissipation can improve the movement efficiency of a snake-like robot. Avoiding side slipping is the main way to reduce the energy dissipation. A creeping control method for the snake-like robot, named optimal passive creeping, is proposed. This method makes the robot avoid slipping by inputting the proper torque which is adjusted by its body shape. The purpose of the control method...
Direction control is an important part of the study on the snake-like robot. A direction control algorithm which is based on the passive creeping, named continuous direction control, is proposed. This method controls the movement direction of the robot's head by the exponential function of the reference angle amplitude, and makes the body follow the head by adjusting the torque amplitude of the body...
In this paper, we propose a two-modes autonomous controller for a snake-like robot to adapt to the environments with different friction coefficients. According to the cyclic 3-stages experiential learning theory, the controller integrates an open-form searching method and a closed-form searching method, which correspond to the two modes of the controller respectively. We introduce a mechanism to remember...
Real-time and accurate image matching is a key to stereo vision of agricultural harvesting robots. This research is part of a pineapple harvesting robot project. In this paper, pineapples were selected as research objects and low cost binocular vision platform was constructed, fruit area of left image was got by real-time image acquisition and rapid segmentation, rapid matching of fruit area in left...
This paper presents a self-rescue mechanism for a screw drive in-pipe robot, which only uses one DC motor. The robot has two working modes, Normal Working Mode and Self-rescue Mode. Under normal working mode, the robot propels itself in the pipe just as other classical screw drive robots. When the robot encounters the obstacle and gets jammed, the lock up mechanism and motion control mechanism of...
This paper presents a dynamic object grasping strategy based on the predictive control algorithm. Simulation results and preliminary experiments show that the control method is able to complete the dynamic object grasping with this strategy.
This paper describes the control of a three-fingered prosthetic dexterous hand developed by the State Key Robotics Laboratory at the Shenyang Institute of Automation, Chinese Academy of Science. A distributed control system is used to control the motion of this multi-finger hand. Preliminary experiment results show that the dexterity of the hand meets the design expectation and that the hand is able...
This paper presents an amphibious snake-like robot's design. This amphibious snake-like robot, mainly composed by 8 Modular Universal Units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. The control equations for each gait are introduced. Due to its special joint design and the feature of being densely covered by vanes, the robot is...
A shape-shifting robot, which named “AMOEBA-I”, has diverse configurations. The accessibility of the robot can be reinforced in the narrow space by changing the configurations. In this paper, a path planning method is presented corresponding to the unique reconfigurable ability of the robot. This method can automatically adjust the computational cost according to the distribution of obstacles in robot's...
Serpentine Locomotion is the most common and simplest locomotion form of a snake-like robot; its main characteristic is the wave-like undulation of the snake's body. In order to realize the noticeable features of the snake-like robot's serpentine locomotion in water, we have developed an amphibious snake-like robot which can adapt to terrestrial and underwater environments. After we derived the dynamic...
This paper introduces a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is adopted as the power transmission device to give two different outputs with just one actuator. Compared with each module driven by two actuators, the module driven by just one actuator could perform a good impact absorption when a collision occurs with environment due to the fact...
Present multifingered hands share a common drawback: the complexity of both the hardware and the software. The complexity is derived from tens of DOF and their actuators placed in small space, and results in the high weight and the non-reliability of the whole system. So many multifingered hands, especially the prosthetics and the hand developed for project application, adopt under-actuation (in the...
In this paper, we present a four-layered representing architecture for the configurations of a link-type reconfigurable mobile robot. Decimal numbers are used to represent all these possibilities in joint space. Binary codes are introduced to represent the links with consideration of adjacent interventions. To find out all the mobile configurations completely and accurately, configuration matrices...
Anthropomorphic fingers based on four-link mechanisms are commonly used in the design of the dexterous robotic hands. The most critical part of the design is to determine a set of optimal linkage parameters that will provide the desired mechanical configuration and motion scope to match human fingerspsila. The existing optimization method is based on the vector kinematics equations of the linkages,...
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