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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...
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...
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...
This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for...
Different components are needed to control a service robot, which helps people in the household environment to do daily tasks. Controllers in closed loop are needed to control the actuators and sensors to provide actions. A sequencer schedules and coordinates these actions to finish a given task. And an AI planner is also needed to generate the sequence of the actions. Followed this well-known three-layer...
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...
This paper presents a real time collision avoidance method considering robot's size for an autonomous omnidirectional mobile robot by simultaneous control of translational and rotational motions. This method enables the robot, which the size of width is not equal to that of length, to avoid unknown obstacles safely and efficiently. To consider the difference between the width and length of the robot,...
This paper proposes an exploration method for an automated 3D map generation of an unknown environment by using a group of robots equipped with LRF (laser range finder). The robots are composed of a parent robot measuring its environmental structure and two child robots being used as landmarks for localization of the parent robot. The method decides positions of the robots to generate the accurate...
The trajectory tracking control of 3-DOF instrument is very important for master-slave control robotic-assisted minimally invasive surgery. In this paper, dynamic structure and equation of motion for the 3-DOF instrument was established to use the Euler-Lagrange method based on screw theory. A control scheme is designed based on the computed-torque controller and a RBF neural network based compensating...
With the development of the multi-robot coordination, the working efficiency of the multi-robot system is improved, and the tasks can be finished better. Multi-robot coordination is one of the important issues for the research of mobile robot. The research of formation control of multi-robot will improve the efficiency of the coordination of multi-robot. So the problem of multi-robot formation is...
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...
It will be dangerous if hazard gas or inflammable gas arises in room without being noticed for a long time. A robot is a good choice to automatically detect the dangerous gas and send out accurate information and alarm. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional gas source searching ways is not satisfying. An intelligent robot mounted gas...
A two-layer navigation architecture for autonomous indoor exploration is proposed. As doors in the indoor environments are ubiquitous and informative for navigation, the high-level layer uses a stereo vision based algorithm to detect doors in order to generate a series of goal points. The low-level layer makes the robot avoid obstacles and navigate to the goal points by an improved dynamic window...
Based on nonholonomic restriction condition, the kinematics model of wheeled soccer robot is derived. Based on dynamic restriction condition, the dynamic model of wheeled soccer robot is derived with considering the dynamic of driving electric motor. Analysis shows that the line acceleration and angle acceleration of soccer robot are related to current line velocity, angel velocity, given line velocity...
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...
This paper presents three haptic-based virtual applications for the undergoing rehabilitation of upper-limb post stroke patients. The three exercises are developed for their use on the multi-modal interface so-called Bimanual Haptic Desktop System (BHDS), which integrates the haptic functionalities and Video Display Terminal (VDT) within the work-plane of a desk. Firstly, two basic exercises, tracking...
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