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Humanoid robotic hand is one of most impressive research focus in robotics. There are two important requirements in robotic hands: on the one hand, a hand has a good humanoid appearance and sizes and can grasp almost all of common objects, on the other hand, the same hand is very simple in structure, very easy in control and very low in cost. Most of present dexterous robotic hands could not balance...
This paper realizes robot remote real-time navigation system by using smart phone. The smart phone was used for the displayer and command receiver, and the control commands and compressed video stream was transmitted on Internet between the robot and smart phone, thus a real-time video feedback was developed. According to the situation of communication, the sending frame rate of the video and robot's...
Based on the characteristics of wheeled, tracked and legged movements, a variable parallelogram tracked mobile robot(VPTMR) is proposed and developed to enhance its adaptability and stability in the complex environment. This VPTMR robot consists of two variable parallelogram structures, which are composed of one main tracked arm, two lower tracked arms and a chasis. The variable parallelogram structure...
Living things exhibit adaptive and supple locomotion under the real world characterized by rapid changes, high uncertainty, and limited availability of information. But the systematic design of the behavior of living things like ants or bees (e.g. constructing very big and complicated nests) whose brains have very tiny memory abilities, has not been well established. In recent research, this design...
A new interfacing device that enables intuitive operation of a wheelchair mounted robotic arm is proposed. Three kinds of physical signals: jaw movement, breathing strength and head movement are captured using this device, and then be used to drive motion primitives of robotic arm in an intuitive way. This device is designed to operate in a mouth-only manner, thus enables usage for the upper limb...
The small autonomous vehicles of the future will have to navigate close to obstacles in highly unpredictable environments. Risky tasks of this kind may require novel sensors and control methods that differ from conventional approaches. Recent ethological findings have shown that complex navigation tasks such as obstacle avoidance and speed control are performed by flying insects on the basis of optic...
Nowadays, robots and virtual agents become companions for humans. They seem to have distinct roles in the Human-Machine Interaction. Thus, when developing a new application, it is judicious to wonder which the better is. In the Robadom project, a homecare robot has to assist elderly at home. The robot provides cognitive stimulation game. We developed StimCards, a cognitive card-based game. The principle...
In this paper, a new approach is described to recognize the phases of a single-port sigma resection intraoperatively, based on the position signal of the surgical instruments, the endoscopic video and an audio signal, signaling coagulations. Approaches for detecting the coagulation sounds, as well as the instruments visible in the endoscopic video using a bag of words model are detailed. The intervention...
Flexible rhino endoscopes have been extensively used in many surgical and diagnostic procedures, such as in a rhinoscopy to examine the tumor or polyp in nasal cavity. However, the orientation of flexible endoscopes is only based on the endoscopic images, making its manipulation complex and requiring clinical experience. Therefore, we proposed a hand-held manipulator to motorize a standard flexible...
A robotic fish mimicking cownose ray is developed and a fuzzy depth control method is presented in this paper. With dosoventrally flattened body wich is disigned by imitating body shape of cownose ray, the robotic fish has preferable pitch stability. A tail-unit, which consists of a pair of horizontal tails and a vertical tail, is used to realize turning motion in the horizontal plane and up-and-down...
Attracted by the fact that pectoral fins exhibit complex three-dimensional movements and play very important role in fish maneuvers, a study on Koi Carp is conducted to investigate the kinematics of pectoral fins. In this paper, an efficient high speed photography system is introduced to obtain the double perspective simultaneously, a typical maneuver motion while Koi carp retreating is presented;...
Nature provides the best models for robots. Inspired by the stick insect, the jellyfish, the butterfly, the lobster, and the inchworm, several kinds of biomimetic locomotions have been proposed, analyzed and investigated in our past researches. Besides the insects and underwater animals, some carnivorous plants which are capable of rapid movement, such as mimosa, the Venus flytrap, the telegraph plant,...
Hardware-in-the-Loop (HIL) simulations play a major role in the field of testing of Autonomous Underwater Vehicle (AUV) well before the actual vehicle is developed and deployed in the water. This paper discusses the real-time verification of a 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV using hardware-in-the-loop simulation tool. Software-In-the-Loop (SIL) models are developed...
This paper presents a robot tadpole which is actuated by a novel biomimetic wire-driven flapping propulsor. The propulsor has a 12-vertebra serpentine backbone and each pair of adjacent vertebras forms a spherical joint. The vertebras are divided into two groups and each group is controlled by a set of wires. By controlling the two sets of wires, the propulsor can generate oscillatory motion (C-Motion)...
This paper reproduces the plunge-diving process of a biomimetic gannet through the CFD (Computational Fluid Dynamics) simulation. The numerical investigation of impulse force and pressure distribution on the designed biomimetic gannet when interacting with water is also presented. Three-dimensional computational transport equations based on the complete set of Navier-Stokes equations are solved by...
This paper addresses the parameter search issue of a Central Pattern Generator (CPG) governed fishlike swimming. Since the CPG parameters involving amplitudes, frequencies, and phase lags are closely related to the propulsive performance, an idea optimizing the CPG characteristic parameters for the maximum propulsive speed is formed and implemented. Specifically, a dynamic model of robotic fish swimming...
This paper presents a new method for constructing 2D maps of enclosed underwater structures using an underwater robot equipped with only a 2D scanning sonar, compass and depth sensor. In particular, no motion model or odometry is used. To accomplish this, a two step offline SLAM method is applied to a set of stationary sonar scans. In the first step, the change in position of the robot between each...
This paper presents force measurements of a passive fish robot in a regularly turbulent flow. We placed the robot into a controlled hydrodynamic environment, in running water behind a cylinder which created alternately shed vortices (von Kármán vortex street). We monitored the flow field using digital particle image velocimetry and recorded the force measurements using a force plate. The measurements...
A robot accepted by animals as conspecific is a very powerful tool in behavioral biology, particularly in studies of gregarious animals. However in experiments where animals and robots share the same physical environment, there is always a risk of a robot accident that can lead to animal injuries. Safety regulations have to be developed to guide the design of an intrinsically safe robotic hardware...
Tactile sensing is an important modality for robots that interact with the environment. It enables the collection of physical information of the environment such as softness, texture and temperature. Especially, object manipulation strongly depends upon tactile sensing. Humans recognize object's properties by touching the manipulated object. Thus, humanoid robots and artificial prosthetics require...
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