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Unlike animals and humans who are very adept at push recovery, humanoid robots push recovery is difficult for its high dimensional, non-linear, and hybrid features. Existed research results such like Capture points, provide several methods to recover from the push. However when a high magnitude push applies to the humanoid, existed methods are not enough to recover the robot. Towards this problem,...
Aiming at the problems of optimization design of propulsive mechanism and motion control for an amphibious robot capable of multimode motion, a kinematics model is established by Solidworks and imported into ADAMS to form a virtual prototype. An accurate simulation can facilitate designer find hidden errors and gain insights into the kinematics of an amphibious robot. The abilities of straight-going,...
In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (n > 2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. It is important to consider coordination of multiple high-order agent dynamics which generalize the existing simple single-integrator/double-integrator ones because, in...
This paper deals with an improved design scheme for an amphibious robot inspired by various amphibian principles in animal kingdom. Considering the propulsive features of existing amphibian modes synthetically, a novel hybrid propulsive mechanism that integrates fish-like swimming with wheel-paddle-fin movements is proposed. The robot is able to implement speedy and efficient fish-like or dolphin-like...
According to the terrain features of the irregular environment, we propose a novel mobile mechanism of the transformable wheel-track robot (TWTR). The TWTR can adapt autonomously to the irregular environment by transforming the track configuration or by changing the locomotion mode between track mode and wheel mode. The TWTR mechanism consists of a control system unit and two symmetric transformable...
A ballroom dance is a performance between a male dancer and a female dancer and consists of its own steps. The dance is led by a male dancer and a female dancer continues to dance by estimating the following step through physical interaction between them. A dance partner robot, PBDR, has been proposed as a research platform for human-robot coordination. It dances a waltz with a male dancer by estimating...
The robot that can detect the indoor dangerous gas and give alarm is very useful. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional source searching ways of tracing plume or concentration is not ideal now. An intelligent robot mounted gas sensors and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The...
The robot can navigate counterweights, clamps and some kinds of towers autonomously. The locomotion principle of counterweight-navigation is presented. Because of the deformation of the wire, the posture of the robot during navigation will be affected greatly. So a posture control strategy is proposed. Virtual prototyping technique is used to validate the strategy. It proves that the proper movement...
A trajectory planning method for a mobile manipulator is proposed in this paper. The mobile manipulator studied here consists of a mobile platform and a redundant manipulator. Since the system has the redundant degree of freedom to perform some tasks, it will have infinite configurations to make the end-effector track the desired trajectory. The concept of AMSI and AMSIP which were used to optimize...
In this paper, the need for automated transportation systems for hospitals is investigated. Among other alternatives, mobile robots stand out as the most prominent means of automation of transportation tasks in hospitals. Existing transportation routines of a hospital are analyzed in order to verify the need for automation and identify possible areas of improvement. The analysis shows that most of...
A mobile manipulator system as a versatile platform for home service has been developed by authors. The mobile system has two features. One is the efficient and easy recognition of environment and objects about geometrical, physical and additional information by a sensor fusion system consisting of RFID, camera and laser range sensor. The other is such geometrical, physical and additional information-based...
Vibration suction method (VSM) is a novel suction strategy for wall climbing robot. Regular vibration can improve the suction cup's adsorption capacity. Through the study of the first vibration suction robotic foot (VSRF I) the applicability of VSM was verified while the suction capability, safety, and wall adaptability of it was not well enough. Based on these, a new vibration suction robotic foot...
The probabilistic roadmap method (PRM) has been successfully implemented in the motion planning field. But, when the sampled points are being connected to each other, collision check is an inevitable step, which is the most time-consuming operation of this method. A new method is proposed, in which the collision check operation is not necessary, and speed up the path planning operation. Based on the...
In order to solve the bad convergence property of neural network which is used to generalize reinforcement learning, the neural and case based Q-learning (NCQL) algorithm is proposed. The basic principle of NCQL is that the reinforcement learning is generalized by NN, and the convergence property and learning efficiency are promoted by cases. The detail elements of the learning algorithm are fulfilled...
Mobile robot's self-localization is an important part of robot technology research. This paper first briefly introduces several main methods of mobile robot's localization, and RSSI (received signal strength indicator) ranging principle. Then it proposes an experimental system which is used for mobile robot's localization based on wireless sensor network (WSN), and describes the experimental system's...
A modified path planning approach is presented for mobile robot in the paper. First a new environment model called danger degree map (DDM) is constructed in order to provide more rich environment information than grids map. Then the equidistant distributed PSO whose fitness function is the weighted sum of the path length and the path danger degree is introduced to get a more reliable path than conventional...
A distributed intelligent decision and management system is erected which incorporates the technologies of decision support system, expert system and database based on the theory of multi-agent. The system is able to support more rational, more effective and more scientific decision-making and schedule strategy, and it also can do attribute to the automation and intelligence of mobile manipulator...
Detecting abnormal state of elder from sensor is very important for high-level activity inference of service robot. This paper proposes a model to solve this problem using location information. Firstly, the feature can be extracted from location information using the SLAM Map, and the vector based on l,thetas is calculated. Then approach of clustering the feature vector based on H-FCM algorithm. Experiment...
An on-line BCI system is designed to control self-designed robot for photo-taking. The simulated experiment of BCI's application outside space-ship in aerospace is included in this paper. The P300-based BCI system includes three modules: visual stimulus, EEG sampling and signal processing, external robot controlling. A robot acts as the carrier for the camera. The robot is developed with the ability...
According to demand of six-pedrail mine rescue robot in a complex environment, it is designed as modularization of hardware architecture based on upper and lower processor of multi-CPU, using IPC as the central computer. The motion control system software is built though VC++. The experiments show that the system can control two drive-motors and four-arm motors well, and the demand of motion control...
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