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In this paper, we propose a new CPG model for the snake-like robot being able to adapt to different environments. This model can produce typical serpentine, sidewinding and traveling wave locomotion gaits and switch between them automatically based on a simple input signal. The stability of this model is verified and the parameter restrictions are determined. Then, we investigate the relationship...
The human operators may be subjected to hazardous environments or monotony routine work in pick and place type operation. One has to rely on robotic or autonomous systems that have robust and flexible mechanical structure to adapt to the needs of environment in order to remove these hazardous. The gripper is one of a critical component of an industrial robot which is often useful in industrial environments...
This paper presents a motion planning approach to coordinating multiple mobile robots in moving along the designed paths. The robots are required to fulfill the formation requirement during the motions subject to the constraints of velocity/acceleration bounds and mutual collision avoidance. The coordination is achieved by properly planning robots' velocities along the paths, which is modeled as a...
In this paper, we describe a coordination framework for weakly centralized mobile robot teams in which the leader is not specified a priori, but it is selected dynamically during the mission depending on the task and the environment. The key to our approach is the integration of both centralized and decentralized coordination strategies at the individual robot level. Each robot relies on the local...
As one of valid modeling and coordinated controlling tools, the particle swarm optimization algorithm can be extended for applying to task of swarm robotic search. To gain an insight into effects of key parameters on distributed swarm search, a series of simulations are conducted. In such control algorithm, main parameters including communication range, detection radius, and swarm size are paid close...
To resolve the motion planning problem of multiple robots system, we present an improved architecture based on the dynamic robot networks. The presented architecture includes the group structure and the single robot structure. The group structure adopts the improved hierarchical structure, which can realize centralize coordination because it has the dynamic robot networks based on communication. This...
Crustal movement modeling and analysis are the major task in the earth system science. In this paper, a distributed system for simulating the crustal movement was developed with embedded systems and common programming languages. The crustal movement simulation system (CMSS) is designed based on multi-agent system (MAS). A three layered MAS architecture with good generality is presented, which can...
To move a obstacle from a certain position to the predefined destination, robot needs various kinds of elements, like control algorithm, hardware, etc. General human can selects the distance between him and destination by numerical supervised learning, and establish the moving plan to the destination, generally called `Trajectory planning.' He(or she) can make a trajectory planning against the obstacles...
We focus on the Target Following Robot System (TFRS), which is a system that allows a follower-robot to follow and track a moving target-object. We propose the some schemes for the effective TFRS, which are the Network based Extended-RFID Localization System (NE-RLS), Virtual Tracking Goal (VTG) and Generalized Wall Structure (GWS). Finally, the utility of these algorithms was verified experimentally.
An obstacle avoidance method using a virtual impedance wall is proposed for a multi-legged robot. The swing legs use compliance control to make soft contact and avoid colliding with objects, so that the robot maintains the moving direction as far as possible while the swing legs maintain a preferred operating region. The preferred operating region is surrounded with a virtual impedance wall. When...
This research aims at building a sensor array system to identify contact pressure distribution between the sensor and its environment. The main characteristic of this sensor array is that very few wires are needed to realize the data acquisition of many sensor units (called sencels) using a frequency modulation method. The repeatability, accuracy and working range of the sensor were experimentally...
In order to realize a better control of a designed spherical underwater vehicle, a real-time adjusting control method based on attitude sensor signal feedback is proposed in this paper. The theory is that compute differences of the sensor data in certain time firstly then compare the differences with threshold, and a modification will be carried out if needed, otherwise, it continues to compare after...
In this paper, we are interested in a single robot detecting intrusions in a rectangular perimeter. We built a stochastic model analyzing the detection quality achieved by the single moving robot moving along the rectangular perimeter, based on the velocity, mobility pattern. We define the mode of intrusion events as follows: intrusions arrive at random point at the rectangular perimeter, and stay...
This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme...
In this paper, we propose an approach for estimating a location of moving-target over a sensor field via distributed IMM estimator with multiple pseudo measurements using trilateration positioning algorithm. Pseudo measurement which indirectly measures the position of target is defined by results of trilateration positioning coordinates. As a single node only can measure the distance to the target...
This paper presents the design and implementation of a wireless sensor and actuator network (WSAN) system for calling home robots in indoor environments. The proposed system consists of a network of wireless pyroelectric infrared (PIR) sensor nodes and a mobile actuator node. The PIR sensor nodes are deployed on the ceiling of a room to form a grid topology. The location of a person within the detection...
Monte Carlo localization (MCL) is a success application of particle filter (PF) to mobile robot localization. In this paper, an adaptive approach of MCL to increase the efficiency of filtering by adapting the sample size during the estimation process is described. The adaptive approach adopts an approximation technique of particle merging and splitting (PM&S) according to the spatial similarity...
This paper presents a new GPS and DR integration based navigation system for mobile robots in substation environments for inspection. An adaptive federated Kalman filtering algorithm is put forward to realize information fusion. Experiments have also been carried out to verify the functionalities of the system.
In order to correctly sense incline terrain, its geometrical calculated model is analyzed. Based on the change trend of distance between the mobile robot and slope, their relative position can be determined. Then a novel method which takes the use of the powerful nonlinearity approach capability of RBF network is introduced to estimate the slope of the terrain with respect to the robot's current angular...
This paper describes the path planning method based on biologically inspired neural network and proposes a novel robot control system. Firstly, the principle of the biologically inspired neural network is introduced and its application is analyzed. Secondly, the computer modeling and simulation are conducted and show that this method is effective. Moreover, path planning experiments are accomplished...
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