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This paper describes a 2 DOF (Degrees of Freedom) massaging robot prototype: Massagebot, which is equipped with two kinds of massage structure and can realize two kinds of massage by scratching and shaking on user's back. Massagebot has two-wheel gripper, and two-triangular structure of body with good stability. In terms of path planning, we proposed a location algorithm based on simplified acupuncture...
In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The robot has an under-drive control structure. The wearer can maintain balance and shift his (her) body weight with the aid of a pair of crutches. On this robot we have implemented a four-legged gait planning method. Through...
Nuclear safety is an important strategic demand in China. Steam generator is one of the key equipment in nuclear station, therefore its daily detection is very important. Robot is the most effective mean of detecting steam generator, and the location in the steam generator will greatly improves the detection efficiency of the robot in the detection process. This paper establishes a coordinate system...
This paper presents a method based on extreme learning machine to learn motions from human demonstrations. We model a motion as an autonomous dynamical system and define sufficient conditions to ensure the global stability at the target. A detailed theoretic analysis is proposed on the constraints regarding to input and output weights which yields a globally stable reproduction of demonstrations....
We develop a localization method to enable a team of mobile robots to search for multiple unknown transient radio sources. Because of signal source anonymity, short transmission durations, and dynamic transmission patterns, robots cannot treat the radio sources as continuous radio beacons. Moreover, robots do not know the source transmission power and have limited sensing ranges. To cope with these...
Wearable exoskeleton robot is a kind of humanoid service robot to help the elderly and the patients with walking dysfunction, it is also an effective medical rehabilitation method to help patients who have walking disorders due to central neural system damage. This paper focuses on the flexible mechanism design of wearable lower limb exoskeleton robot. A wearable exoskeleton robot prototype was developed...
This paper presents a synchronization control strategy for multirobot formation with time delays. Firstly, a synchronization error is defined with consideration of communication delays. Secondly, a decentralized synchronous trajectory tracking controller is developed. It is proven that this synchronous controller guarantees both position and synchronization errors to converge to zero. Finally, simulations...
The task of path planning has attracted considerable attentions over decades. Most path planning research was focused on the property of environment, which is either static or dynamic, and many accomplishments have been achieved. However, less attention has been paid to the uncertainty of robot location. Previous research works always assume the position of robot to be a certain point, which is a...
This paper proposed a novel Tri-star wheeled robot called “Tribot”, which targets on high obstacle performance in unstructured environments, especially at the performance for climbing vertical obstacles. Tribot equips with six Tri-star wheels and each wheel can be driven independently. The chassis of the Tribot is divided into two parts which are connected by an articulated mechanism, making the Tribot...
To solve the problem of occlusion for robot grasping, a novel method is proposed, by which the robot can grasp an occluded target object accurately. In this paper, the principles of binocular vision, camera calibration, stereo rectification and stereo matching are described. By utilizing the stereo-vision algorithm, robots can obtain the three-dimensional information of objects. For accurate grasping,...
Catering service robot working in restaurants is integrated with autonomous mobile, multi-sensor data fusion, and multimodal human computer interaction techniques. Catering service robot can replace or partially take place of the restaurant staffs; it has good marketing effectiveness and potential profitable advantages. In this paper the design of a catering service robot is introduced. Beautiful...
This paper describes a compact mini-walking robot with Barbie's shape, and its walking is realized with only one actuator. The first remarkable feature of this robot is the total weight and dimension of the proposed mechanism is expected to be lighter and smaller than other mini-walking robots. Secondly, the proposed leg mechanism in the robot can work smoothly as human with only one DOF. The model...
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