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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...
BVP Path Planners generate potential fields whose gradient descent represents navigational routes from any point of the environment to a goal position. The resulting trajectories are smooth and free of local minima. In this paper, we refine our BVP PP approach by introducing a novel form for the core equation that permits to easily cope with terrain inhomogeneities. This is accomplished by changing...
A new laser scan matching algorithm is proposed in this paper. By constructing multiplex histograms, the new algorithm offers a simple way for importing geometrical features into the histogram method, obtaining more geometrical information from the laser scan data, and carrying out more accurate matching results. Also, an optimal maximum selection mechanism is employed to filter out the incorrect...
In this paper, we present a new approach to the problem of simultaneous distributed localization for multiple autonomous underwater vehicles(MAUVs). Cooperative localization(CL) is a crucial cycle for long range navigation of MAUVs. In the leader-follower cooperative structure, a collective estimator is processed in the form of a extended Kalman filter. Different from the normal decentralized filter...
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...
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...
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...
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...
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...
This paper is about environment perception for navigation system in real outdoor applications. Unlike other approaches that try to detect an obstacle of binary state, we consider here a Digital Elevation Map (DEM). This map has to be built in regards to the guidance system's needs. These needs depend on the vehicle capabilities, its dynamical constraints, its speed etc... Starting with the navigation...
In this paper, we present a SIFT based Slope K method which is faster and more robust than the classical SIFT in landmark based localization. First, the slope k value can be used to erase mismatched feature points (outliers) of the two compared images. Second, the y position is determined by the slope k value. Therefore, the Slope K method is able to localizes about twice as more accurate as the classical...
Mobile robot localization is the problem of determining the position of a mobile robot from sensor data. Active localization provides setting the robot's motion direction and determining the pointing direction of the sensors during localization so as to most efficiently localize the robot. This paper proposes an active localization approach that employs Monte Carlo Localization, which is based on...
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 describes a new method of self-modeling based on constructing an operating space for a humanoid robot. This approach takes insights from the pain perception, which is regarded as a measure to ensure self-preservation in nature. The anthropomorphic humanoid robot learns the operating space of his joint actuators and the workspace by using its own movements. In addition, we also propose a...
Mobile robot localization is one of the most important problems in robotics research. A number of successful localization solutions have been proposed. However, in all these methods, the success or failure of localization is judged by normally a human operator of the robot, and the robot itself does not know whether it has or has not been localized. In this paper, we put forth a novel method to bring...
In this paper a new method of information fusion, Dezert-Smarandache theory (DSmT) is introduced to deal with high conflicting and uncertain information. And then the evidence reasoning machine (ERM) based on DSmT is presented for mobile robot mapping in unknown dynamic environment. Considering the characteristics of sonar sensors, the grid map method is adopted and a sonar sensor mathematical model...
The paper deals with the motion of turning in place of a spherical robot for military reconnaissance and unknown environment exploration developed by us. The robot belongs to a nonholonomic and under-actuated system. The robot has 3 DOF and 2 inputs. The motion of turning in place can make a spherical robot with higher dexterity and environmental adaptability. The mathematical model of the turning...
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...
In this paper we introduce a method for classifying terrains and for predicting friction coefficient on terrains by applying visual information. Coefficient of friction on a terrain is very important for autonomous mobile robots in driving on road and traversing over obstacle. Our algorithm is based on terrain classification for visual image. To predict friction coefficient from given image, we divide...
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