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This paper describes a development of bio-mimetic robot hands and its control scheme. Each robot hand has four under-actuated fingers, which are driven by two linear actuators coupled. According to the study of the human hand, it is noted that coupled muscles (flexor and extensor muscle) generate the finger motion. Each fingertip can reach toward objects by curved surface workspace in 3D-space. The...
Human red blood cells (RBCs) are responsible to transport oxygen and carbon dioxide for human bodies. The physiological functions of RBCs are greatly influenced by their mechanical properties. Any alteration of the cell mechanics may cause human diseases. In this paper, to understand the correlation between the cell properties and their osmotic environments, robotic manipulation technology with optical...
This paper presents a biologically inspired approach to posture recognition and posture change detection for a biped robot. Slow Feature Analysis, an algorithm developed by theoretical biologists for extracting slowly changing signals from signals varying on a fast time scale, is applied to the problem of recognizing the posture of biped humanoid robots over time and successively on the recognition...
Whether the central nervous system of primates uses a body-centered or an eye-centered frame for reaching is still a controversial debate in neurosciences. Does the proprioceptive information allow to represent the visual information with respect to the body or inversely, does it transform the hand position in retinal coordinates? In this paper, we implement and test two control schemes associated...
This paper presents a concept for the design of hyper-redundant manipulators utilizing stages of spatial links with remote tendon actuation. This methodology is illustrated by the prototype of a new tendon-driven modular manipulator (TENDRIM). The TENDRIM is composed of three stages of completely restrained, tendon-driven parallel mechanisms featuring two rotatory DOF each. A workspace analysis for...
This paper presents a novel type of energy transducer which converts ambient wind power into electrical energy based on electromagnetic induction principle. Different from traditional wind turbine generators, flexible belts were designed and demonstrated to harvesting energy using aerodynamically-induced fluttering. Essentially, airflows are used to drive a specifically designed belt to vibrate periodically...
Rotation is one of efficient transportation method for big or heavy object. For implementing the rolling operation to the small and light weight robot, the friction control is necessary considering its movable range, balance and actuator power. In this paper, we propose a new rolling manipulation by using whole body motion for multi-legged robot. The weight shift control is implemented considering...
New dynamic rolling-walk motion for multi-legged robot with Sensory Compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the Preview Control of Zero Moment Point with cart-table model based on the bipedal robot technique, the robot's center of mass trajectory is planned for the dynamic motion...
In this paper we summarize some basic principles of legged locomotion in animals and then discuss the application of the principles to the design and fabrication of a four-legged robot. The here presented model combines ideas for better locomotion of robots both in the biologically inspired, mechanically intelligent structure and in the bionic controller. The movement of the legs is triggered by bionic...
An obstacle avoidance method using virtual impedance wall is proposed for multi-legged robot. The swing leg employs compliance control to avoid the collided object and the robot keeps the moving direction as much as possible while swing legs keep a preferred operating region. The preferred operating region is surrounded with virtual impedance wall. When the leg comes to go over the threshold of preferred...
In this paper, a new category of wheel-leg hybrid robot inspired by retracting configuration of the armadillo is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize high ability to climb obstacles. A prototype model of one wheel-leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and...
Four wheeled and four legged flexible personal robot is designed for a personal robot following a person indoors. This robot is expected to serve a various kind of service to a person and peoples with the tri-camera stereo vision system. This paper describes on the vision assisted stride over a step with the hybrid locomotion by wheels and legs.
The use of multi-agent reinforcement learning is growing because of it's ability to scale in complexity and its lack of need for knowledge of the state and other agents. Chimpanzee hunting behavior is a suitable complex and interesting model for which multi-agent reinforcement learning is appropriate. Chimpanzee hunting strategies vary in both use and complexity and ultimately depend on the environment...
The biomimetic undulating fin, RoboGnilos, is inspired by natural fish that generally swim via undulations of a long dorsal or anal fin. However, the present performance of this fin-type underwater propulsor can hardly be satisfactory in velocity, efficiency, or maneuverability, and retains a long distance to practical applications. This paper examines the dynamics of the undulating fin, and proposes...
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...
3D model matching has been widely studied in computer vision, graphics and robotics. While there is much success made in the matching of natural objects, most of these approaches consider smooth surfaces and are not suitable for computer aided design (CAD) models because of their complex topology and singular structures. This paper presents a novel spectral approach for the 3D CAD model matching in...
The measurement and improvement of task agility, the ability of a manipulator to effectively handle multiple task types, has become increasingly important in the manufacturing industry as efforts are made to design more versatile and efficient factories. Task agility is crucial to the performance of kinematically redundant manipulators in complex manufacturing workspaces that involve several physical...
Multi-agent systems are becoming more popular in a variety of problem domains that benefit from increased parallelism, system robustness, and scalability, ranging from search and rescue to investment management. Multi-agent systems analysis studies how multiple agents coordinate with each other to maximize some team goal or individual best reward. Coordination achieved through learning provides a...
The advantage of the optical-flow-based visual servo methods is that features of the moving object do not need to be known in advance. Therefore, they can fit for demands of versatile positioning and tracking tasks in the real world. Nevertheless, it is difficult to achieve satisfactory tracking performance for fast moving objects using these standard approaches. The purpose of this paper is to implement...
Online coordination of visual information with slow speed manipulator control is studied in the specific task of three dimensional robotic catching using position based visual servoing. The problem involves the design and application of a recursive algorithm to extract and predict the position of an object in a 3D environment from one feature correspondence from a monocular image sequence. Target...
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