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The following topics are dealt with: robotics; biomimetics; microsystem; nanosystem; tactile sensors; mechatronics; path planning; rehabilation and wheelchair; laser image sensing and panoramic vision; human-machine interface; learning; visual servo and tracking; formation and SLAM; sensor networks; grasping; control and stability; modelling and task planning; manipulation; image processing; smart...
One of the major limitations in the development of ultrasensitive electrochemical biosensors based on one-dimensional nanostructure is the difficulty involved with reliably fabricating nanoelectrode arrays (NEAs). In previous work, a simple, robust and scalable wafer-scale fabrication method to produce multiplexed biosensors is introduced. Each sensor chip consists of nine individually addressable...
In this study, we investigated that flagellated bacteria Serratia marcescens had been utilized as actuators for SU-8 microstructures through the bovine serum albumin-selective patterning. Firstly, we analyzed the adherence of the bacteria to SU-8 microstructure through the selective patterning using 5% BSA. As a result, the number of attached bacteria in 5 surfaces coated-microstructure with BSA was...
This paper introduces an artificial compound eyes imaging system with planar structure based on MEMS fabrication technology. Firstly, we used the photo-resist reflow method to fabricate a 9??9 microlens array on a planar glass substrate, as the lenses of the compound eyes. Its transverse size is 0.9 ?? 0.9 cm2 and thickness is about 0.7 mm. Then we built an imaging system where object images are captured...
A novel method of nano-patterning, based on combining the principles of piezoelectric inkjet printing and E-jetting to form free-standing biopolymer fibers, is proposed. Large electric fields have been utilized in the formation of continuous fibers through E-jetting but forming discontinuous, positioned fibers is new to the field. Piezoelectric inkjet printing offers clean break-offs and reproducible...
Lek behavior is a biological mechanism used by male birds to attract mates by forming a group. This project explores the use of a biological behavior found in many species of birds to form leks to guide the creation of groups of robots. The lek behavior provides a sound basis for multi-robot formation because it demonstrates a group of individual entities forming up around a scarce resource. This...
Distributed and efficiently allocating tasks to networked robots in dynamic environment pose challenge in both theory and application in robotics. A fundamental issue here is how to reallocate tasks during task execution. In this paper, by integrating a high-level market-based algorithm with a low-level mobile ad-hoc network communication structure, we propose a new cooperation architecture named...
Inspired by the simplicity of how nature solves its problems, we develop a flocking controller that would enable the localisation and subsequent mapping of environmental pollutants. Pollutants could range from chemical leaks to invisible air borne harzardous materials. We use simulation results to validate our approach and then briefly discuss how to implement the controller onto a real robotic platform...
An air-ground multi-robot system is designed for the purpose of applying bio-inspired sensor-motor modeling on technical systems. It consists of a flying mini-quadrotor equipped with inertial and visual sensors, and a wheeled minirobot equipped with active markers. The system modules, a multi-sensory pose/motion estimation approach and a closed-loop control of the flying quadrotor are described in...
This contribution presents a biological inspired robot, called Trunk Robot Braunschweig (TRoBS). The structural shape of the robot is motivated by a trunk mechanism, where the robot is actuated by NiTi shape memory alloy (SMA) wires, placed according to the agonist-antagonist principle of muscles. The robot has a modular structure, the single segments are connected by compliant joints, whose arrangement...
The control of a snake-like robot is a challenging problem because of the complex dynamics. In this paper, we present a novel method, called passive creeping, to control the serpentine locomotion of the snake-like robot. The kernel of this method is composed of the following two concepts: 1) dynamic shift brings the tendency toward the serpentine locomotion; and 2) energy links the environments and...
In this paper, the concept of modular robots is introduced to a type of multi-link snake robotic systems. The links of the traditional snake robots are evolved to intelligent modules, and this decentralized architecture can benefit for the removal of broken parts and the adding of new modules for reconfiguration. The module with automatic connector and wireless communication is implemented first,...
To realize the obstacle avoidance of a snake-like robot in unstructured environment, an asymmetric locomotion of snake-like robot is introduced. Imitating from the locomotion of natural snakes, the turn motion and the round motion of the snake-like robot are analyzed respectively. A CPG-based control system with parameter-transmitting characteristics is developed for control of the asymmetric locomotion...
This article addresses the hybrid control method for wheeled mobile robot in constrained environment. Wheeled mobile robots, which are characterized by nonholonomic constraints, are particularly difficult to control since environment constraints should be taken into account sometimes. Traditional control methods, which are based on precise models of environment, may lead to great challenges in determining...
This paper presents a interactive mobile robot. The proposed mobile robot is implemented under the technique of mixed reality. The mixed reality technique is implemented by both the Virtools tool and mobile robot. There are three basic interactive behaviors of human beings have been implemented on this proposed mobile robot. There are target navigation behavior, face tracking behavior, and obstacles...
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