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This paper proposes a novel approach, Simultaneous Path Planning and Topological Mapping (SP2ATM), to address the problem of path planning by registering the topology of the perceived dynamic environment as opposed to the conventional grid representation. The local topology is encoded, concurrent and incremental with path planning, by extracting only the admissible free space. The resulting Admissible...
This paper presents an approach to control gaits of humanoid bipedal robots in operational space without reference trajectories. This control strategy is based on the planning of the sequential events during the walking process. The aim of this study is to propose a new control strategy which is more reactive, permits a precise coordination of both legs during the double stance phase and the generation...
We have investigated an active size controlled droplet generation system by using magnetically driven microtool (MMT). With a lateral motion of the MMT in microchannels, the continuous phase can be pinched off by the movement of MMT to obtain size-controlled droplets actively. With this method, particle-enclosed droplet can be produced on demand to fit the size of each enclosed particle, and which...
This paper proposed a new method of designing a flexible biomimetic fish propelled by oscillating flexible pectoral fins. The molding soft body is adopted in the robotic fish. Pneumatic artificial muscles are utilized as driving sources and two ribs with distributed flexibility as main parts of the propulsive mechanism. The leading edge locomotion profile of the flexible pectoral fin in air is studied...
Fine manipulation of large industrial manipulators faces many problems due to well known error sources. Most climbing robots can be seen as mobile manipulators whose base is also moving across the climbing structure, and consequently adds some additional positioning errors. 3DCLIMBER is a serial mechanism pole climbing robot, developed at ISR-UC. The preliminary tests of the robot showed that it is...
Although there have been much research on robot walking, the energy efficiency of central pattern generator (CPG)-based walking has not received much attention. This study proposes a novel method for acquiring energy-efficient CPG-based bipedal walking for a robot with knees and feet. In this method, we introduce a torque-free period for swing leg control into the swing leg control cycle. During this...
This paper presents a control framework for humanoid robots that uses all joints simultaneously to track motion capture data and maintain balance. The controller comprises two main components: a balance controller and a tracking controller. The balance controller uses a regulator designed for a simplified humanoid model to obtain the desired input to keep balance based on the current state of the...
We report on our experiences regarding the acquisition of hybrid Semantic 3D Object Maps for indoor household environments, in particular kitchens, out of sensed 3D point cloud data. Our proposed approach includes a processing pipeline, including geometric mapping and learning, for processing large input datasets and for extracting relevant objects useful for a personal robotic assistant to perform...
We introduce a unique shaped crawler robot aimed for high-step climbing that is considered the most necessary ability in urban search and rescue operations. The crawler robot is composed of two triangular-shaped crawler devices connected by a center shaft, a straight crawler device and a two-link mechanism connecting the shaft and the straight crawler. The robot is very compact and light weight compared...
This paper presents 6-DOF monocular EKF-SLAM with undelayed initialization using linear landmarks with extensible endpoints, based on the Plu??cker parametrization. A careful analysis of the properties of the Plu??cker coordinates, defined in the projective space P5, permits their direct usage for undelayed initialization. Immediately after detection of a segment in the image, a Plu??cker line is...
Most autonomous mobile agents operate in a highly constrained environment. Despite significant research, existing solutions are limited in their ability to handle heterogeneous constraints within highly dynamic or uncertain environments. This paper presents a novel maneuver selection technique suited for both 2D and 3D environments with highly dynamic maneuvering constraints and multiple mobile obstacles...
The paper presents a navigation algorithm for dynamic probabilistic environments. The static environment is unknown; moving pedestrians are detected and tracked on-line. Pedestrians are supposed to move along typical motion patterns represented by HMMs. The planning algorithm is based on an extension of the rapidly-exploring random tree algorithm, where the likelihood of the obstacles future trajectory...
This paper presents a mechanism for navigating complex pipe structures, both horizontally and vertically. The mechanism consists of a series of identical modules interconnected by two degree of freedom active joints. A set of active wheels on each module provides propulsion. Horizontal motion is achieved through a train-like scheme, while vertical motion is achieved through spanning the pipe alternatingly...
This paper investigates the efficiency of a 2-period gait from the kinetic energy view-point. First, we formulate a steady 2-period gait for a compass-like bipedal robot by using a simple recurrence formula for the kinetic energy of an asymmetric rimless wheel. Second, we theoretically show that, in the case that the mean value of the hip angle is constant, the generated 2-period steady gait is less...
In the context of 3-D scene modeling, this work aims at the accurate estimation of the pose of a close-range 3-D modeling device, in real-time and passively from its own images. This novel development makes it possible to abandon using inconvenient, expensive external positioning systems. The approach comprises an ego-motion algorithm tracking natural, distinctive features, concurrently with customary...
A phoneme-acquisition system was developed using a computational model that explains the developmental process of human infants in the early period of acquiring language. There are two important findings in constructing an infant's acquisition of phonemes: (1) an infant's vowel like cooing tends to invoke utterances that are imitated by its caregiver, and (2) maternal imitation effectively reinforces...
This paper focuses on the simplification of the on-line programming process of industrial robots. It presents in detail the input part of a modular on-line programming environment presented as overview in [1]. Main concept of this programming environment is an intuitive way of moving and teaching robots, while supporting the user with assisting algorithms like collision avoidance and automatic path...
In this paper, we propose a new approach to the locomotion control of the trident snake robot, focusing on its ??double-linked?? case where the robot is composed of a triangular body and three branches of double-linked snakelike legs. Originally, this robot was proposed by the authors as a novel example of nonholonomic mobile robot. This robot is quite interesting from a theoretical point of view;...
This paper presents a human-robot interface with perceptual docking to allow for the control of multiple microbots. The aim is to demonstrate that real-time eye tracking can be used for empowering robots with human vision by using knowledge acquired in situ. Several micro-robots can be directly controlled through a combination of manual and eye control. The novel control environment is demonstrated...
A snake-like robot can locomote in various environments; and it can manipulate objects when one end is fixed. A method of dynamic modeling for locomotion-manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. A virtual structure for orientation and position and the product-of-exponentials formula describe the mechanism and the kinematics of the robot...
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