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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...
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...
To execute such robotic tasks as behaving interactions with the environment, it is required to control not only the position of a manipulator but also the force exerted at the contact. The paper first presents the dynamic modeling of the mobile modular robot (MMR) which is composed of the mobile platform and the modular manipulator. The mobile robot, having two degrees of freedom(DOF) because of the...
In this paper, we present a hand rehabilitation system for patients suffering from paralysis or contracture. It consist of two components: a hand rehabilitation machine, which moves human finger joints using motors, and a data glove, which enables controlling the movement of the finger joints attached to the rehabilitation machine. The machine is based on the arm structure type of hand rehabilitation...
This paper presents an 3D algorithm to estimate the motion trajectory of a four legged sliding robot considering the ground friction coefficient and the payload distribution at leg ends during walk on a flat ground including ascending or descending slopes. We formulate mathematical expression for estimating energy cost of motion utilizing the principle of virtual work under the condition where the...
Recent research on mobile robots is focused on locomotion in various environments. In this paper gait generation algorithm for a mobile robot that can locomote from ground to wall and climb vertical surfaces is proposed bio-inspired by a gecko lizard. The gait planning is based on the inverse-kinematics with the Jacobian of whole body, where the redundancy is solved by defining an object function...
To assist a large number of physically disabled people who no longer are in full possession of their body motion, we have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion since movement of shoulder, elbow, and wrist play a vital role in the performance of essential daily activities. The proposed ExoRob will be comprised of seven degrees of freedom to enable...
Biomechanical experiment method has been widely used in research for the mechanical properties of pelvic acetabulum. Loading jig is a very important part in the studies. Yet, few articles did intensive studies about the jig. In this paper, a kind of new loading jig, which is more analogical with physiological orthostatism of the pelvic, is being introduced and some biomechanical experiments have been...
Biorobotic autonomous undersea vehicle SPC-III, developed by Robotics institute, BeiHang University, is a mission-scale autonomous submersible vehicle. The submersible vehicle possesses a torpedo-shape rigid hull. The aft section is a two joints caudal fin thruster driven by two servo motors, which may be substituted by a screw propeller maintaining the same body shape. The accurate motion of the...
This paper studies the coordinated manipulator and spacecraft motion planning for free-floating space robots (FFSR). The kinematics of the FFSR is analyzed based on momentum conservation law firstly. Then a nonholonomic motion planning, including requirements on spacecraft's orientation and end-effector's position is proposed using the chained form transformation and time-state control form. A planar...
A geared 5-bar spring/linkage mechanism used for hopping robot is investigated based on the analysis of over-obstacle performance, and the mechanism is able to adjust the energy stored in spring for hopping. The impact of structure parameters on over-obstacle performance is also investigated. The gait of robot in a hopping cycle is analyzed as the action sequence which includes attitude adjustment...
Based on agility, stationarity, low-noise, and special methods of pose control about sea turtle swimming, the bionic turtle forelimb's hydrofoil propulsion principle was researched. Taking a ripe green-turtle as the biological prototype, utilizing the real-time monitor experiment platform of turtle movement, its skeleton configuration characters were analyzed, the hydrofoil motion parameters were...
An algorithm for bending robots is presented in this paper. The algorithm makes use of the features of bending process to solve three problems: procedure generating, targets calculating and obstacle avoidance. It generates procedure with two state machines and a knowledge library, calculates targets with heuristic rules, and avoids obstacles in joint space. The algorithm has been applied to manufacture...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
This paper presents a design frame of a leg exoskeleton. The performance of an exoskeleton was analyzed by studying a model of a linear coupled 1-DOF human-exoskeleton system. The results showed that a low-impedance, anthropomorphic and well attached mechanical structure is benefit for the control of exoskeleton, and a direct force feedback control could also be implemented to further reduce the impedance...
Based on the underactuated theory, a pneumatic underactuated bionic hand with five fingers is designed. Every finger of the hand is driven by a group of micro cylinders in parallel. The knuckle angle is totally decided by the shape of the grasped object. The expressions of the grab forces are stated after the static and kinematic calculations. The grasp patterns derived from force analysis show the...
Stable walking conditions are reinforced for sliding & wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. Parametric surface table cart model used for dynamics is proposed. Rapid walking pattern of biped robot is generated based on parametric surface table cart model. Finally, dynamics simulation of the 3-D virtual prototype of the biped robot...
To guarantee the walking stability of humanoid robots, a new joint trajectory planning method is proposed. First, to map the trajectory of task space into the trajectory of joint space, a numerical algorithm of inverse kinematics is used to obtain the time sequences of joint angle. In this algorithm, the return values calculated by forward kinematics are compared with the expected pose repeatedly...
In the field of nursing care, caregivers have to bear a great burden due to assistive movements such as supporting of the care-receivers body, lifting them, moving them onto the wheel chair etc. In this paper, we focus on getting a care-receiver in and out of the bathtub, which is one of the most difficult movements for caregivers. Considering an important activity that puts a large burden on caregivers,...
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