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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...
This paper presents the extraction of characteristics of the organ action and the design for multi-motor motion planning. Through the motion controller, the coupling of multi-motor movement is achieved and head movement and expression functional is completed. To improve system dynamic performance, this article also describes the hardware debugging of the multi-motor coupling control. This paper finishes...
Environmental adaptability plays an important role for humanoid robots to expand their applications. Based on force and torque information during foot-ground contact, this paper presents a strategy for humanoid robots to modify preplanned walking pattern by using foot-ground equivalent contact control. Firstly, swing foot landing course is described, then several representative foot-ground contact...
This paper presents experimental results of a reactive deforming path algorithm, based on elastic strips, in a 2D/3D simulator. This algorithm generates motion plans that respect global constraints while making sure that the robot avoids collisions with all stationary, moving and unexpected obstacles. The problem is addressed by integrating a global planning algorithm with a local reactive approach...
This paper presents a novel design of a mobile underconstrained cable suspended robot. The paper deals with the kinematics, statics, motion planning and the design of an underconstrained cable suspended robot. The robot consists of four cable mechanisms and a central body. Each cable mechanism includes a thin cable with a simple gripper at the end, and a dispensing and rolling mechanism. The robot...
Mobile robots have been extensively investigated since the early development of robotics and widely used in indoor and outdoor environments. However, with almost all existing wheeled robots, the distance between the wheels are constant and orientation of the wheels (except for the steering ones) are fixed with respect to the robot body, which limits their adaptability to environments. To overcome...
We propose a control methodology of stacker cranes to avoid collisions in warehouse environment including the constraint on trajectories caused by dynamics. In a warehouse environment, there are three problems: constraint on trajectories caused by the consideration of dynamics (e.g., vibration control), safety in the case of an emergency stop, and practical calculation time. In the proposed method,...
This paper presents an extension of motion planning in consideration of travel time and velocity during the trajectory generation. In this study, cubic and quintic polynomials were adopted to obtain a smooth trajectory for a single nonholonomic mobile robot. In addition, a new strategy in generation of the trajectory has been introduced, which consists of offline and online planning. Offline planning...
This paper presents a new approach based on Artificial Potential Fields (APF) which provides real-time and very effective methodology for practical motion planners in unknown dynamic environments. The Maxwell's equations are exploited to define Artificial Magnetoquasistatic Fields (AMF) as an extension of APF, which provides a predictive, intelligent, and natural behavior in contrast with other approaches...
This paper presents an innovative locomotion concept for rough terrain based on six motorized rimless wheels. Different from traditional wheels, the rimless wheels can not only provide more traction on uneven earth's surface, but also have advanced adaptation to the complex terrain. In order to make the robot move stably and efficiently, the design proposes a novel mechanism of the rimless-wheeled...
A lead-through robot programming solution with a 6-DOF motion tracking device is presented. The motion tracking device is flexible-linked and can be fixed on the end-effector of a robot to realize lead-through teaching. The programming solution covers data acquiring from the six string sensors of the motion tracking device, data processing, kinematical calculation which converts the sensor signals...
The subject of this paper is the design, analysis and control of a biped line walking robot for inspection of power transmission lines. The novel mechanism enables the centroid of the robot concentrate on the hip joint to minimize the drive torque of the hip joint. The line-walking cycle of the designed mechanism is composed of a single-support phase and a double-support phase. During the process...
This paper presents a novel approach for control of the yoyo playing, using return map parameterization The return map is a scalar function that maps the initial amplitude of the yoyo and the parameter (an intermediate state of the yoyo) to the final amplitude. The optimization programs can be combined with a standard one-degree zero-finding routine to search for an appropriate value of the parameter,...
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