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This paper presents a smooth path planning algorithm for a home service robot in presence of a known map and static obstacles. The algorithm proceeds in two steps. Firstly, the MAKLINK Graph based global path planner generates the shortest linear path which consists of several line segments. By introducing the 2D code landmarks into the global path planner, the path passes the landmarks as many as...
For biped pole-climbing robots (BiPCRs), footholds, indicating a sequence of discrete gripping points from the start to the goal, are necessary for travelling in trussed environments. Graspable region in each climbing cycle is the valuable priori knowledge for consideration of selecting specific grasping point. However, how to evaluate all the grasps within the graspable region so as to provide a...
Intelligent robots have been using widely in medical field for the high precision, long working period, and lower costs. The integration of teleoperation system into surgical robots makes the remote surgery possible. This paper focuses on the force feedback and intelligent motion planning that enables master-slave control of heterogeneous manipulators. The slave arm works in a different scene from...
This paper presents a modified gait generation method based on height compensation of center of mass (HCCOM) for biped humanoid robots. The method combines natural gait plan (NGP) and 3-D linear inverted pendulum model (3D-LIPM). By analyzing the human natural gait, the HCCOM considers the effect of swinging leg for COM height, so the hip height is no longer fixed and re-planned as a periodic movement...
For the one-legged robot, a modified SLIP model is studied in this paper and dynamical characteristics of flight phase, impact phase and stance phase in hopping gait are analyzed. A hybrid dynamics correspond to these phases are derived by Newton-Euler Recursive Approach. Through dynamics, the gait planning of stable hopping and different forwarding velocities transition are mathematically described...
Mechatronics, with its multi-disciplinary approach to the design and development of engineering solutions, is a basic course for students majoring in machinery. With the rapid development of intelligent robotic products and technologies, the demands from the industry are rather practical skills than theoretical knowledge. Beihang University proposes an approach based on AGV experiments combining with...
In this paper, we propose a path-planning algorithm for mobile robots having sensors with a limited field of view. The proposed method predicts the observable region in the planning phase and minimizes incursions into unobservable regions. The path-planning process of the proposed method not only involves the actions required for reaching a destination but also the actions required for obtaining information...
Navigation is one of the key issues of biped robot, especially in complicated and uncertain human-living environment. There have been challenges for ensuring the stability, efficiency and security of the biped navigation system. In this paper, a framework utilizing sampling-based footstep planner is proposed for the simulation of the biped navigation. Sensor fusion method is adopted to process and...
A single industrial robot is sometimes not sufficient to achieve some complex tasks such as polishing or welding on complex surfaces. In this case, a positioner is usually employed as an auxiliary device, and their motion is required to be coordinated. This paper proposes a method for coordinated motion planning of a manipulator-positioner system which consists of one 6-DoF manipulator and one 2-DOF...
Introducing robotic technology within the diving context is a very promising idea in order to improve and optimize conditions of divers during missions, both in terms of easiness and in terms of safety. In fact, a diver companion robot can support the diver by carrying bulky equipment, helping in various tasks and also correctly and promptly reacting in case of an emergency. To this aim, the Eu funded...
Foraging Task is a typical task on swarm robotic and Building Task (extend from blocks world) is widely used for testing performance of task planning in multi-robots. In this paper we combine foraging and building task as a new type task and implement on our swarm robotic system-SociBuilder. The platform is composed of three parts: active region, modules and many robots called Socibots. In order to...
This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot's walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position,...
For many tasks such as welding and polishing on complex surfaces with manipulators, teaching-and-playback is difficult and inefficient. Motion planning with offline programming is an effective and efficient alternative control mode for these tasks. In this paper, we present a method to plan motion by offline programming for tasks on spherical workpieces and develop a corresponding planning module...
Navigation through an intersection is a fundamental task that will enable an autonomous car to operate in a real traffic environment. Previous studies about intersection navigation generally assume vehicle to vehicle communication ability for all of the vehicles. Since this is unattainable in the near future, we focus on the scenario that vehicles on the road cannot communicate with each other. A...
Semisupervised classification method can improve classification accuracy using information of large non-labelled samples, whereas it bears a high cost to obtain labelled samples in hyperspectral image classification. Usual semisupervised classification methods need directly to estimate the classification of every sample in test group. A semisupervised classification method based on label mean is proposed...
Crustal movement simulation takes the very essential effect in the research on water cycle and related land surface processes. In this paper, a crustal movement simulation system (CMSS) is presented. The system enables researchers investigate the effects of crustal movement on rivers and lakes in the laboratory environment. The CMSS proposed consists of twelve sets of parallel mechanism supported...
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