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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...
Clothbot is a new kind of climbing robot with novel structure that enables it to move on human cloth. Earlier version of Clothbot can only climb on cloth with manual control because there is complex deformation on human cloth and thus Clothbot can't keep itself stable. In this paper, we propose some new hardware improvements to enhance the stability of Clothbot on human cloth, then adopt a remote...
This paper investigates the performance of impedance control utilizing an inner loop PI torque controller. Stiffness and damping shaping vary within a specified range of values. The impedance control problem is formulated taking into account a specified range of stiffness and damping parameters. The analysis and design is carried out in discrete time. Stability, passivity, impedance emulation as well...
An unmanned rover is widely used for exploration, for example planetary rovers and surveying in places too dangerous for a person to enter, such as poisonous, radioactive and high volcanic activity areas. It is very important for the rover to be able to maintain mobility in all ground conditions, as the success of the operation depends on it. Most of the current rovers are equipped with wheels or...
Traditionally, discrete robot's performance in flexibility and obstacle avoidance is not very outstanding, while continuum robot cannot load much and its motion space is limited. In this paper, a new robot with hybrid joints was designed based on the two kinds of robots mentioned above. First, the connection mode between discrete and continuum joints was analyzed. It was found that when the axis of...
This paper presents a method to evaluate the attitude of a rigid body under condition of high non-gravitational acceleration. Most of the attitude estimation algorithms based on data from low cost Inertial Measurement Units (IMU), assume that the total acceleration perceived by the accelerometer be gravity or at most small variations of it. When the actual conditions are far away from such assumption,...
According to the two-dimensional coordinate of users body gravity center, a motion control method was proposed for the omni-directional intelligent wheelchair. Fuzzy Kohonen clustering neural network was used in the clustering process of human gravity center in order to judge the occupants driving direction intention. To reduce the effect caused by abnormal clustering center data points which were...
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