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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...
Detecting the person's unwonted behavior state timely and correctly in home environment for the service robot is a fundamental problem. This paper proposes an approach to this problem using the position and pose information as the features and the computing result of the CRF model as the judging gist. Firstly, a pose template based on position label is defined to reduce the dimension of the problem...
Solutions of inverse kinematics is important for a vertical-six-joint industrial robot. This paper proposes a method based on the characteristics of the solutions and the geometric structure of the robot to obtain proper inverse kinematics solutions without calculating all sets of solutions. Position and orientation interpolation are combined together in curve interpolation. The optimized solutions...
The iArm is a service robot arm to help people with upper-limb disability in their daily lives. The iArm has been produced for about 10 years in the Netherlands. The National Institute of Advanced Industrial Science and Technology has developed RAPUDA (Robotic Arm for Persons with Upper-limb DisAbility). The effectiveness of the RAPUDA was evaluated by conducting ergonomics experiments. We analyze...
Optimal point-to-point motion planning of heavy-duty industry robot was critical between two points in the prescribed time. The dynamic modeling was derived though Lagrange formulation and Spong model; then based on the Pontryagin's minimum principle, optimal point-to-point motion planning problem was constructed considering the gravity effect. Indirect method integration with homotopy mapping was...
In industrial robot applications, to adapt the environmental changes the robot teaching process has to be performed frequently by operators. This process increases the operational cost and reduces the manufacturing efficiency. This paper proposes to use a smart robot(named “adult” robot) with advanced sensing and decision-making capabilities to teach “child” robots in the production line. A Markov...
For performing the best obstacle-surmounting capability, including Stairs-Climbing and channel-crossing, SHU-I's, a six-track robot with four independent swing arms, obstacle-surmounting capability are analyzed according to the robot kinematics based on the obstacle-surmounting mechanism of the six-track robot with four swing arms. Its maximal obstacle-surmounting capability of Stairs-Climbing is...
Industrial robot is proven to be more cost effective in terms of flexibility, repeatability, and with new functions offer improved accuracy. Since the parts produced in a robotic cell are identical, it is sufficient to determine the sequence of robot moves, in case of single- or dual-gripper, to implement the tasks. How to achieve the maximum/near-maximum throughput in a robotic cell, even a small...
For a biped pole-climbing robot (BiPCR) with dual grippers to climb poles, trusses or trees, a feasible collision-free climbing path is inevitable. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan a feasible single-step collision-free climbing motion for BiPCRs in spatial trusses. Under the orientation limit of a 5-DoFs BiPCR, a new state representation along with corresponding...
Unstructured domestic environments present a substantial challenge to effective robotic operation. Domestic environment requires service robots to deal with unexpected environment changes, novel objects, and user manipulations. We present an approach to enable service robots to actively learn high-level skills in an unstructured environment. This involves using a combination of processing environment...
Detection and Tracking of human being is a very important problem in Computer Vision. Human robot interaction is a very essential need for service robots where robots are required to detect and track human beings in order to provide the required service. In this paper we present an improved novel approach for tracking a target person in crowded environment. We used multi-sensor data fusion approach...
This paper presents the development and evaluation of a pneumatically-actuated transferring robotic system that uses visual inspection technology. The objective of this research is to implement the manufacturing automation in a customized industrial forging process. The robot has 5-DOF with a 2-fingered gripper placed on the gantry mechanical structure stage. Furthermore, the robotic system consists...
A general framework of robot manipulation planning for door opening task is proposed in this paper. First grasp pattern, including grasp point and method for various door handles, is defined. Second door-opening pattern, including task planning and trajectory planning, is also proposed. This paper utilizes Kinect as a vision sensor to collect point cloud data of the environment. Viewpoint Feature...
In this paper, a kind of automatic measuring robot for steam generator is designed. The robot is created to satisfy the increasing demand of unmanned operation in nuclear power plant. To overcome the limited work space, a novel kind of mechanical structure is proposed. To accommodate large amount of measuring points, control system based on FPGA and AVR is established. The experiments are arranged...
In the application of multi-robot system for a pick-and-place task, the appropriate robot arms and their base positions should be rapidly selected to improve the productivity, reduce the purchase cost, and apply the system for a task quickly. However, in current factories, a large amount of computational time is required to select the appropriate robot arms and their base positions because they are...
In their search for perfection and competitiveness, Colombian industrial concerns now see in robotics a viable way to improve their processes. On such ground, this paper proposes design methodology of a parallel Delta-type industrial robot. This type of robot is an alternative for Colombian industries, since its great advantages of Speed, Precision, and Accuracy make it usable in product packing and...
In this manuscript, we propose the design of a fishlike underwater robot composed of a flexible thin plastic film. We utilized a vacuum packaging machine to fabricate the entire body of the robot. We call this fabrication robot packaging. This robot packaging method decreases the air remaining in the body of the robot, allowing the robot to maintain neutral buoyancy. This manuscript also discusses...
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