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 method based on the velocity disturbance to control the locomotion of a snake-like robot. The inputs are joint torques which are derived from the dynamics equations. The traditional dynamics equations of a snake-like robot are complex, so a simplified dynamics equations are firstly derived based on the differential geometry theory. Then the velocity disturbance is introduced...
A nature snake changes its gaits in different environment, so it is important for a snake-like robot to have more available gaits for a higher adaptability. In this paper, a novel snake-like robot is proposed to verify the motion fusion of rectilinear gait and serpentine gait. At first, the two gaits ant their fusions are analyzed and modeled. Then, the robot mechanism is designed to realize these...
In recent years, service robots are required to execute various tasks in a human-coexistence environment. These robots should be designed not to induce discomfort and aversion in people who use them. To realize this, we focus on the design method for the service robot which runs around in a public space. These service robots should avoid giving a negative impression to these people. Thus, in this...
In this paper, a wheel/track mobil platform for robot search and rescue such dangerous tasks is designed. Through the wheel/track transform mechanism, the wheel and track motion modes can be switched alternatively to adapt to different ground situations. The friction between the belt wheel and hub is used to drive the track and its guide wheel is the one of the transform mechanism. When the guide...
In this paper, in order to track a moving target, we propose a new control law for an integrated mobile robot- pan tilt-camera system. Our controller consists of two control loops, i.e., a kinematic and dynamic control loop, respectively. The kinematic control loop performs three tasks, i.e., allowing an image feature of the target to converge to the center of the image plane asymptotically, designing...
Previous studies demonstrated that bimanual coordination can assist to rehabilitation program for patients with hemiplegia by improving their motor functions. Moreover, in addition to the rehabilitation assistance, bimanual coordination can also be used for prosthesis users to improve the usability of prosthesis. Intention detection and motion control algorithms for one hand case have been investigated...
To improve the mobility of wheeled robots on loose sandy terrain, lugs (i.e., grousers) are attached to the surface of each wheel. Unlike existing studies that focus on the effects of lug shape (e.g. height and width) on lug-soil interaction forces, this study involved experimental and quantitative analyses to investigate the effects of parameters such as inclination angle, sinkage length, and moving...
Minimally invasive robotic surgery (MIRS), compared to open surgery and traditional minimally invasive surgery, has advantages especially for patients and surgeons. In MIRS the surgeon's capabilities are extended for kinds of dexterous instruments, and surgeons could perform precise and dexterous movements which are difficult to carry out by means of rigid instruments. In this paper, the design of...
Two-wheeled balancing robots have been widely used for research and market purposes. This paper focuses on the control of such a robot to maximize its velocity when following certain paths. Dynamic model is constructed based on Lagrange equation; an efficient but low CPU-cost complementary filter is proposed to realize the accurate estimation of robot's posture; three independent PID controllers are...
In this paper we discuss issues related to the design of clusterwheel inverted pendulum balancing machines, with a particular focus on the choice of the number of wheels in the cluster. This class of vehicles holds the promise of incorporating the inherent compliance of a two-wheeled balancing vehicle, the stability of a four-wheeled vehicle when desired, and the capability of legs to overcome obstacles...
In this paper, a new method to detect wheeled mobile robot's position and orientation is proposed. First, we paste a black rectangle board on the head of the robot as a mark, whose long side is parallel to the robot's orientation. And then on the image plane, we use CAMShift to track the robot after some pre-processing. We will get a search window which includes the target robot only by the use of...
Search and rescue field missions, especially in environments which are dangerous for humans, increasingly requires the usage of robust and flexible robots. We describe the development of the modular reconfigurable robot KAIRO 3 focusing on applications in search and rescue, inspection and maintenance. After a short retrospect of previous generations of modular robots, the latest design of KAIRO 3...
Ensuring the motion stability and improving the mobility are crucial for wheeled ground vehicles (WGVs) to complete their missions, e.g., outdoor inspections and explorations. However, wheel slip may deteriorate the mobility performance and safety, particularly on unknown low-adhesive ground. In this research, a novel methodology to detect the adhesion stability using a force transmitting factor is...
This paper presents the effort taken into making our leg-wheeled robot move across flat terrains of different inclination. Previously we have presented the idea of developing the robot using the possible least number of Degrees of Freedom (DOF) by applying the Reduced DOF design. As the complexity of designing and controlling the robot primarily depends on the DOF, we believe that by reducing the...
A multi-DOF two-wheeled robot is considered, the research is aimed to develop the dynamic model and balance control scheme of the robot. A balance weight is involved to compose a new DOF, the dynamic model of the robot is established with Lagrange equations. To facilitate the modelling and design control scheme, the dynamic model is simplified and the displacement of balance weight is chosen as control...
Two wheeled inverted pendulum (TWIP) robot is widely used in various applications for its zero turning radius, small footprint and other advantages. However, the traditional TWIP robot can not keep upright when climbs or descends on a slope, which makes the operator sitting on the robot feel unsafe and uncomfortable. This paper introduces a Multi-DOF TWIP robot, which adding a movable weight to the...
Wheeled mobile robots equipped with normal tires are used widely for transporting materials in industrial fields. High maneuverability especially omni-directional mobility in the floor is desired in narrow or crowded areas. An omni-directional mobile robot is developed in this paper by using two automated guided driving modules in a tandem layout. Each module has a suspension-like mechanism on the...
Vertical ground reaction force(vGRF) has been widely known as a qualitative features of human walking. While a human walks, the vGRF exhibits a double peak profile in which two maximal values appear from the heel contact to the toe off. So far, various studies have been mainly conducted in the field of biomechanics to elucidate the mechanism by which the double peak profile of the vGRF can be generated...
Kinematic planning for performing manipulation tasks with an Atlas humanoid robot is presented. A hybrid analytic/numerical inverse kinematics approach is described, yielding fast solutions. The solution technique supports extensive exploration of manipulation strategies. Task-specific optimization metrics are introduced, leading to manipulation plans for three tasks: acquiring a horizontal cylinder,...
Herein, we propose a motion-control algorithm for a vehicle with a large sideslip angle. The proposed algorithm is designed on the basis of the planar motion of the vehicle using a four-wheel vehicle model. The proposed algorithm controls the vehicle velocity, sideslip angle of the vehicle, and yaw rate of the vehicle using the driving forces of the four-wheels and steer angle of the front wheels...
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.