The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
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...
Evaluations for gait rehabilitation is difficult because gait parameters change with individuals and situations, such as walking speeds and step length. Doctors suggest proper rehabilitation programs for patients after performing initial clinical evaluations. For the use of design and control of the NaTUre-gaits (natural and tuneable rehabilitation gait system), this paper provides a clinical analysis...
We present a new class of gait generation and control algorithms based on the switching max-plus modeling framework that allows for the synchronization of multiple legs of walking robots. Transitions between stance and swing phases of each leg are modeled as discrete events on a system described by max-plus-linear state equations. Different gaits and gait parameters can be interleaved by using different...
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 proposes a method for a biped robot to walk on uneven terrains. For stable locomotion, it is necessary for the biped robot to adapt to the ground conditions with suitable foot motions and to reduce the magnitude of the ground reaction forces (GRFs) applied at the feet that are in contact with the ground. This paper suggests the impedance control scheme with a variable desired force to reduce...
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...
In this paper, we realize a new real-time humanoid robot control system based on dual network. The dual network method consists of two communication protocols: high speed IEEE 1394, and high stable controller area network (CAN). We enhanced the efficiency of control network system, and the network transformation board for consisting of dual network was developed. The control network method is validated...
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,...
Bucket wheel reclaimer (BWR) has been widely used for stacking/reclaiming bulk materials (i.e. iron ore) onto/from stockpiles in mining industry. Generally speaking, current BWRs are manually operated, remotely operated, or automated to simply follow predefined trajectory patterns. BWRs are very large in size, heavy in weight, expensive in price and slow in motion. It is commonly agreed in the industry...
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...
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...
The catadioptric vision system has seen an increasing interest due to its larger field of view. In this work, we present a method for calibrating the parabolic camera which consists of a parabolic mirror and an orthographic camera. Here, the mirror parameter and its positions are estimated from a closed-form solution with the assumption of the known intrinsic parameters of the camera a priori. The...
Recently panorama-based virtual reality systems have a key issue that is how to achieve continuous walkthrough between the two adjacent panoramas. In order to solve this issue, we firstly take images in the sampling points of the transition path, and then the coefficients of image transformations among these images are estimated directly from these images. Finally, the images in the non-sampling points...
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...
In this paper, the hydrodynamic performances of unsteady flapping foil were studied by panel method based on potential flow theory. The flapping foil had a coupling motion of rolling and pitching. The calculation process of panel method was realized by the FORTRAN procedure. The calculation results of average thrust coefficient by the procedure accordance well with the MIT experiment data. Then the...
A new laser scan matching method based on clustering is advanced. It takes the advantages of both non-iterative matching method and iterative matching method as well as increases the speed and the precision of matching. A method of map building based on laser scans using the matching method above is presented for mobile robots. The map building method matches two consecutive scans by using the feature...
Cluster of formation flying satellites consists of several companion satellites that make relative motion to a central satellite. The trajectory of relative motion is ellipse with special properties. On secular flying of formation satellites, various perturbation factors may cause relative drifts to the satellites. J2 perturbation has a great effect on the satellites formation flying. The article...
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...
A navigation system of mobile robots which works in the acoustic environment is studied based on auditory perception mode in this paper. In this kind of application, if the target is outside the scope of the visual sensor, only the auditory sensor can be used for robot to detect the target. The navigation model proposed by this paper has five units which are sensor unit, map establishing unit, information...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.