The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents a novel Differential Modular Robot Joint (DMRJ), which has high payload capability and low weight. The ratio between the output torque and the reducer's weight is 178.3 Nm/kg, which is the highest value we have known. The DMRJ is designed modularly for high payload tasks and can be attached to robots as arms or legs. Two high power DC brush motors are applied to drive the differential...
One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control...
This paper presents a master-slave hot-line robot working in high voltage for cleaning insulators. Compared with existing cleaning robots, this robot mechanism is superior in insulation as it uses a series of insulation methods, such as the crank arm insulative elevating mechanism, insulative hydraulic system, master-slave control, optical fiber and ZigBee communication, to ensure the safety of robot...
This paper describes the design and implementation of a two-dimension motion platform equipment, which can meet the requirements to simulate the vibration of the real vehicle. According to the modeling and simulation of vehicle trajectories, the mechanical structure of the platform has been designed, and a motion controller has been developed based on DSP and ARM, with corresponding motion control,...
After the Fukushima nuclear crisis, robots were used to detect irradiation dose rate and sample contaminated water inside the reactor. The necessity of robots in nuclear crisis and daily maintenance have been proved in past 40 years since the Three-mile island crisis. The key issue for a nuclear robot was irradiation hardness of all components, especially the electrical components. We conducted γ...
This paper deals with the design, construction, and motion control of a jellyfish-inspired swimming robot that uses jet propulsion for thrust generation. The robotic jellyfish consists of a streamlined head, a cavity shell, four separate drive units with bevel gears, as well as an elastic rubber skin around the drive units. In order to replicate the locomotion of jellyfish including a relaxation phase...
Cow-nosed rays can perform diversified swimming modes including linear cruise, pitching, yawing, and gliding. This paper focuses on the realization of these swimming modes. Furthermore, the role of tail fins are taken into account. The phase oscillators with controlled amplitudes have been adopted to build a new central pattern generator (CPG) network that includes six pectoral fin ray oscillators...
This paper focuses on a further exploration of multimodal locomotion governed by bio-inspired central pattern generators (CPGs). To pursue a better swimming performance, an updated robotic fish is constructed. Besides the improved hardware devices involving higher torque servomotors and powerful processors, some innovative mechanical designs are taken into consideration. Specifically, a well-streamlined...
In this paper, the design, analysis and fabrication of a quadruped wall-climbing robot is presented. Inspired by the climbing gaits of geckos, the robot has kinematics similar to a gecko's motion. Unlike geckos stick on the wall surface with Van del Waals force, the robot is based on electrostatic adhesion force induced by a specifically designed electrostatic adhesive footpad. By combining the bionic...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.