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An interval type-2 fuzzy logic controller using the switching type-1 fuzzy Takagi-Sugeno model is presented for the position control of wheeled mobile robot. The control gains for the switched regions are determined using linear quadratic regulator approach. The blending of the local controllers based on the interval type-2 design scheme yields the final motion commands for the wheeled mobile robot...
Recently, the robotics community has widely used color-depth (RGB-D) sensors for various applications, such as collision avoidance, navigation and robotic path planning. To effectively utilize the benefit of depth and color modalities, it is important to know the relative pose between these sensors. In this paper we proposed a theoretical and practical approach to estimate the rigid body transformation...
Surface Sample Acquisition and Caching Device (SSACD) is an underway equipment which is designed for the upcoming Chinese Lunar Exploration Stage III: lunar sample return. Considering the characteristics of lunar environment and soil, the scoop of SSACD is a bionic design which would have lower digging resistance and higher efficiency. The unlocking mechanism is driven by motor and wire rope directly...
Bridge inspection is a critical responsibility and essential task. Currently, many bridges should be inspected periodically for safety tests. Also, the maintenance and repair cost of bridges has rapidly increased every year, because the conventional methods such as bridge-detection vehicle and human visual inspection are time-consuming, expensive and lack quantitative objectivity. This paper proposes...
Aiming at planar linkage mechanisms considering joint clearance effects, a modular approach based on the link group theory and the graph theory is proposed to improve modeling efficiency. The massless link model to simulate joint clearances provides possibility for using modular approach to analyze the clearance effects. Meanwhile, this approach highlights the hierarchy and reusability of a defined...
Junction surface plays an important role in the performance of a modular robot in terms of positioning error and system stiffness. In this paper, junction surfaces of robotic modules are modeled and analyzed based on virtual medium. The asperity of a junction surface is first made equivalent to an isotropic virtual medium layer, and the thick surface contact fractal theory is combined with the contact...
Lake monitoring sensors are important for maintaining the safe environment around the lake. Those sensors float on a lake and have to carry their own battery. However, the limited battery life in sensors is a critical problem, because it affects the operation time of the system. In this paper, we address the lake monitoring sensors distribution under water flow field in a lake. We propose a controller...
The simulation of space microgravity environment is indispensable during the development of space robot since its performances should be examined and enhanced before sent into space. However, the existing methods, such as air flotation method, hanging wire method and buoyancy method, etc., are very expensive and complex. A low-cost microgravity simulating system is proposed in this paper. In this...
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...
Autonomous takeoff and landing on water, unattended long-term operation capability are the typical characteristics of unmanned seaplanes. As the hydrodynamic forces estimation for unmanned seaplanes is very complicated and sea states are severe, the researches on the modeling, dynamic analysis and controller design are still a great challenge. In this paper, based on the nonlinear mathematic model...
The aim of this research is to find an actuated level ground walking method, which is analogous to the dynamics of a passive dynamic walker on a slope. We propose to take advantage of the coupled elastic to actuate legs. As a result, maintaining the character of passive dynamic and a simple control algorithm are achieved simultaneously. In our walking model, actuated bars are installed on each leg...
There are many space servicing tasks for space robots. With a single end effector, the space robot even can not meet the operation requirements of individual task. The space robot system has a self-relocating main manipulator arm and a dexterous robot arm to perform the tasks. To mount/de-mount payloads and tools, interfaces between the end effector and payloads/tools are standardized using grapple...
Movement generation in robotics is an old problem with many excellent solutions. Most of them, however, look for optimality according to some metrics, but have no biological inspiration or cannot be used to imitate biological motion. For a human these techniques behave in a non-naturalistic way. This poses a problem for instance in human-robot interaction and, in general, for a good acceptance of...
Generation of flexible goal directed movement describes the key skill of autonomous articulated robots. Critical points are still the acknowledgement of reaching and grasping task while satisfying static and dynamically changing constraints given by the environment or caused by the human operator in a collaborative situation. This means that the motion planning dynamics has to incorporate multiple...
A common problem among elderly people is the loss of motor ability. Rehabilitation exercises can help these people recover strength and maintain a good level of mobility. However, high costs and the need for special equipment make professional rehabilitation impractical for regular use in daily life, precluding elderly the possibility to perform focalized training at home. The idea of telerehabilitation...
Round window, a channel connecting the middle and inner ears, plays an important role in hearing process of human beings. Usually, localized medical treatment to the round window requires surgical treatment to be carried out by professional surgeons. In this paper, we propose a novel approach to explore the potential of robotic-based round window local therapy, leveraging on the technique of stereo...
Recently, there have been many studies for developing robots that perform tasks instead of humans. In this study, we focus on tasks to be performed at high places above the ground, which can be dangerous and costly. Therefore, a robot having the ability to climb a wall is preferred for an automatic maintenance system, instead of humans. This paper reports the development of a wall climbing robot which...
The traditional triangulation algorithms in multiview geometry problems have the drawback that its solution is locally optimal. Robust Optimization is a specific and relatively novel methodology for handling optimization problems with uncertain data. The key idea of robust optimization is to find the best possible performance in the worst case. In this paper, we propose a novel approach which solves...
In this paper a medical robot based on a 3-RPS parallel platform is presented for providing correct screw path in transpedicular fixation surgery. For improving the accuracy of the robot, a calibration approach for 3-RPS with CMM (Coordinate Measuring Instrument) data is developed. Sensitivity analysis of the error source had been done with Monte-Carlo techniques. The results show that the length...
In this paper, an optimized central pattern generator (CPG) network is proposed for humanoid walking control. The CPG controller targets three joints (hip, knee and ankle) of each leg including 4 degrees of freedom (DOFs). The connections for CPG units of related joints are simplified and optimized hierarchically. The total number of CPG parameters is greatly decreased in this way. Moreover, the genetic...
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