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This paper introduces a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is adopted as the power transmission device to give two different outputs with just one actuator. Compared with each module driven by two actuators, the module driven by just one actuator could perform a good impact absorption when a collision occurs with environment due to the fact...
Biologically inspired techniques have been widely investigated for realizing adaptive searching behaviour in a mobile robot. In this paper, we propose a framework based on ldquoYuragirdquo, a Japanese word for biological fluctuation. Yuragi-based framework is simple, has a noise-utilizing novelty to keep the robot searching for the goal, while its basic expression enables the robot to switch elegantly...
Living organisms have various kinds of flexibility and robustness which are realized by ldquoyuragi,rdquo or biological fluctuations or noises. Bacterial motion is an example of the noise-based motion, since they can move towards higher concentration of some chemical which they prefer although they have only a limited 1 DOF for mobility using that flagella. Bacteria also have only a limited sensory...
Indoor mobile robot navigation based on the vision system is a hot research field in recent years. Structured light method is a kind of three dimensional measuring technology which is widely used in mobile robot vision system. In this paper, mobile robot obstacle detection system in indoor environment is designed, linear structured light which is projected in front of the robot assists camera to gather...
A stair recognition with laser range scanning for continuous stair climbing by limb mechanism ldquoASTERISKrdquo is proposed. In this research, laser range scanning is divided into rough scan for fast scanning, and precise scan for range scanning. We use 2D laser range finder attached with motor for 3D laser range scanning. As a result of the experiment, the robot could recognize a stair position...
This paper describes the intelligent foot with six-axis force/moment sensors for humanoid robot. The developed humanoid robots have not gotten intelligent feet for walking safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied to the soles of the feet, and they should be controlled with the measured the forces and moments for his weight...
This paper addresses a platform-based design for a bio-inspired amphibious robot well-suited for multi-mode motion both on ground and under water. It concerns mechanical design, hardware implementation, software design, as well as ADAMS-based modeling. By introducing well-established software and hardware architectures, an ARM+uC/OS-II centered embedded control system is formed. With the sensor subsystem...
A collision-avoidance planning method in multi-robot system based on genetic algorithm optimized by fuzzy logic control is designed, which include a simplified three-tier structure: avoid robot, avoid static obstacles and moving to the goal. These actions reason independently, and take information from different sensors as inputs; all the outputs are next anticipant movement of robot. Then, it synthesizes...
For the real-time and distributed features of multi-robot system, the strategy of combining the improved artificial potential field method and the rules based on priority is used to study the collision avoidance planning problem in multi-robot systems. The traditional artificial potential field method has some drawbacks, improved artificial potential field based on simulated annealing algorithm satisfactorily...
The insufficient duration of the robot is an important issue, especially for security robots and surveillance robots. The battery exchanging is a perfect solution for insufficient duration. A novel design of robot docking station for automatic battery exchanging and charging is presented in this study. The battery is automatically exchanging within 45 seconds. A design of movable carrier allows a...
This paper is concerned with distributed extended Kalman filtering (DEKF) for simultaneous pedestrian and multiple mobile robots localization. Here, extended Kalman filter (EKF) is applied to the multiple robots for the pedestrian localization. The estimate from each robot is fused by distributed algorithm to improve the accuracy. Furthermore, we used multiple robots formation control to keep a triangle...
The main objective of this work is to develop a robots' fleet working together to make assistance tasks in a hospital, geriatric or home in a collaborative way. This paper focus on multi-robot mapping and localization system for robotic assistants and a camera based system for tracking people. This paper presents a method to detect, recognize and track people using mount cameras fixed on a building...
This research is an attempt to design and develop behaviors for a group of robots to handle an object. A new approach to develop an object pushing system with a large group of mobile robots is introduced. The behaviors are devised in such a way that the robots would easily develop a swarm formation around the object and push it toward the desired goal. A rotating orbit of robots around the object...
Antarctic conditions are critical, which means low attitude flight is quite dangerous. However, with the development of the polar expedition and the upgrade of miniature sensor equipments, the introduction of small unmanned aircraft systems as a new polar expedition method, is one of the international forefront innovative research. This paper will introduce the background, research, development and...
This paper presents a design on a small robotic fish with infrared remote receiver and IPMC actuator, and verifies that using IPMC as an actuator is feasible. In our experiment, we compare results of the robotic fish's speed in different actuating signal, such as square wave and sine wave. We also give the results of robotic fish's speed in different frequency and amplitude.
Manipulators mounted on unmanned submarines are inherently kinematically redundant. Such systems, which are normally controlled by operators from within a vessel on the sea, can follow a desired path both by moving its manipulator or the submarine itself. Due to this redundancy one might control the system such that it tracks the desired path and fulfil some secondary tasks at the same time. Due to...
The rendezvous and landing missions are very significant for scientific explorations. In such missions, the navigation and guidance based on image data is very important. The spacecraft Hayabusa performed the descent flights to the target asteroid Itokawa in November of 2005. To accurately determine the spacecraft position, a landmark tracking scheme with the help of the ground operation was introduced...
Microsoft recently announced the release of Microsoft robotics studio (MSRS) for developing applications for robots. By itself, it is interesting to see this new toolkit, but it should appeal beyond those interested in programming robots. In this research, MSRS is used to control the LEGO MINDSTORMS NXT robot motion using Webcam for road sign recognition. MSRS software, Sensors, and Motors are used...
This paper proposes an implementation of Fast-SLAM for localization and mapping for an indoor environment. The system use only the bearing information retrieved from an omnidirectional camera via vertical line segments which are common in an indoor environment. The real world experiment is also presented using Pioneer-DX3 mobile robot moving in a room with several objects.
This paper presents an illumination adaptive color object recognition method for robot soccer match. Generally, the colors are identified by referring to the pre-defined bounds for the components of each color. However, it is not an easy work to define non-interfered bounds for different colors, and the bounds are sensitive to illumination conditions. Instead, in this work, different colors are discriminated...
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