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A sub-optimal guidance and nonlinear control scheme based on Optic Flow (OF) cues ensuring soft lunar landing using two minimalistic bio-inspired visual motion sensors is presented here. Unlike most previous approaches, which rely on state estimation techniques and multiple sensor fusion methods, the guidance and control strategy presented here is based on the sole knowledge of a minimum sensor suite...
In traffic video surveillance system, target-level tracking and feature-level tracking are two important areas for research. Therefore, the combination between them is an interesting question. Mean-shift is a traditional target-level tracking algorithm with no adaptation to vehicle scale and orientation change. In order to solve the problem, algorithm combine SURF (speed-up robust feature) feature...
The paper mainly validates that the dynamics characteristic of the free-floating space robot during space manipulator capturing the target satellite. The dynamics verification system adopts the hybrid simulation method, which combines the real ground hardware experiment and the software simulation. The hardware experiment component can acquire the joint driving torques, which are the inputs of the...
Automatic endoscope video analysis is an essential function for medical robot and computer-aided diagnosis system. However, the performance of these video analysis algorithms are often degraded by low quality endoscope images under the uncontrolled environment, where some of them are difficult even for human ourselves for analysis, such as over-saturated by reflection, too dark or obscure. In this...
In this paper, a flexible tension-pressure tactile sensitive sensor array is proposed for intelligent robot skin to detect external pressure in the case of tensile and bendability condition. Such flexible sensitive tension-pressure tactile sensor is fabricated with carbon nanotubes (CNTs) and carbon black (CB) as conductive filler and silicone rubber as insulating matrix. Studying the extension-pressure...
This paper focused on improving the movement accuracy of PMs on the end-effector. Lots of sensors will be used to joints as possible, Some joints with better error performance than original driving joints at each position in the work space will be identified by using error evaluation measures, and their movement information will be transfered to driving joints to realize movements of the end-effector.
Most multi-robot task allocation algorithms are concerned with the allocation of individual tasks to single robots. However certain types of tasks require a team of robots for their execution, and for the allocation of such tasks non-conflicting robot teams have to be formed. Most of the existing allocation algorithms for such tasks mainly address the robot-team formation and the tasks are allocated...
This paper presents a path planning and collision avoidance method based on artificial bee colony (ABC) optimization algorithm for multi-robot systems. Standard ABC algorithm can find a proper way for the robots quickly, but it still has shortcomings. An improved artificial bee colony optimization algorithm (IABC) is proposed to plan a reasonable collision-free path for each robot of a multi-robot...
In this paper, we propose and analyze a Regenerative Magnetorheological Actuator (RMRA) for gait assistance in knee joint. The actuator has motor and magnetorheological (MR) brake parts working in parallel, and can harvest energy through regenerative braking. This novel design provides multiple functions with good energy efficiency. The design of the RMRA is first introduced, and its multiple functions...
Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across...
In order to realize the stabilization and the tracking performance of MIS (minimally invasive surgical) robot control system in the presence of uncertainty in the system dynamics, the linearization of the MIS tele-operation system model is processed firstly. Furthermore, the robust control problem is formulated as a robust state feedback stabilization problem subject to parameter uncertainties and...
To improve the efficiency of multi legged climbing robot, a dynamic climbing gait is proposed for a gecko inspired mechanism with a pendular waist and linear legs (GPL). Then, a mathematical model is built and the kinetics of the climbing gait is illustrated. Trajectory of the waist, identical to centroid of the GPL model, is also discussed in this paper. The forces at the feet of GPL are calculated,...
Dance has become compulsory in the physical education courses in Japan, recently. Especially for the creative dance, it is possible to cultivate capacities for expression and communication abilities. However, it is hard to presuppose the creativity and skill of creative dance for beginner level dancers without experience. This paper describes a novel supporting method for the beginners by using a...
Current legged robots are brittle and fragile when performing a wide range of locomotion tasks. This can be the case during the execution of dynamic locomotion trajectories such as jumping or hopping where impact forces can significantly increase and reach levels of an order of magnitude higher than the gravitational/weight forces of the robot. Legged robots like humanoids with rigid and heavy feet...
Development of computational models of the brain is relevant not only for deepening our understanding of the biological system but also for potential applications to various engineering problems. In this paper the implementation of a bi-hemispherical neuronal network model of the cerebellum (biCNN) in a stand-alone, portable real time (RT) device is presented. The biCNN is tested during a control...
Neurological time delay is one of the important elements threatening human postural stability. Previous studies mainly focused on the neural controller to stabilize a human size inverted pendulum model. What kind of postural control mechanism is necessary for compensating neurological time delay by controlling muscles still remains a question. This research proposed to investigate whether a stance...
Compliant-motion control implementation on a humanoid robot with electrohydraulic joints is presented. Characterization results are shown, leading to a dynamic model used in feedback. A Natural Admittance Controller is designed, and its performance is demonstrated in demanding manipulation tasks, including dual-arm palmar manipulation of an egg and dual-arm valve turning.
This study aims to develop a state transition model and speech recognition module for application to a whole-body patient simulator for scenario based training (SBT) of neurological examination procedures. These procedures are very important for the early identification of neurological system disorders. In neurological examinations, the doctor selects procedures by situation of patients, interacts...
Stable walking of bipedal humanoid is an crucial and challenge issue of research in bipedal robots. And the structure of shoe sole plays a significant role in preventing someone from slipping in human life. The humanoid robot foot often skid while the robot is walking fast, and it may cause serious harmfulness. This study presents some foot pads for humanoid robot to improve its stability and reliability...
This paper presents a new prosthetic hand control using speech and sEMG for forearm amputees. sEMG signals can often be affected by operators' biological conditions such as fatigue, sleepiness, flush, etc. Speech signals, in contrast, are relatively unaffected by the operators' biological conditions. To enhance reliability and usability of the prosthetic hand operation, the proposed hand has two control...
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