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Redundant space manipulators, including Space Station Remote Manipulator System (SSRMS), Special Purpose Dexterous Manipulator (SPDM) and European Robotic Arm (ERA), have been playing important roles in the construction and maintenance of International Space Station (ISS). They have similar joint layout and are referred to SSRMS-type manipulators. This paper presents an effective inverse kinematics...
To achieve high speed and high acceleration, flexible planar parallel manipulators (PPM) are typically designed with lightweight linkages, but hence suffer from unwanted structural vibration, diminishing positioning accuracy. This paper addresses the dynamic modeling and efficient modal control for vibration suppression of a PPM with three flexible linkages actuated by linear ultrasonic motors (LUSM)...
Contouring error is a key criterion in high-speed and high-precision multi-axes manufacturing. However, it's hard to find the analytical expression of the real contouring error for any free-form contour and most of existing researches focused on the estimation methods. In order to achieve high contouring accuracy, we design a decoupled controller based on the contouring error information by applying...
The popularization of service robots requires that robots are not expensive and can work very well in human daily living environment. Due to lighting condition and/or cluttered background, there are false detections occasionally for landmark-based robot localization with low-cost color camera or infrared sensors. However, traditional frequently used methods, such as Extended Kalman Filter (EKF) and...
In this paper, we deal with the robust control of robot manipulator actuated by pneumatic artificial muscles. The control consists on the combination of the nonsingular terminal sliding mode which is based on the time delay estimation method and an adaptive fuzzy logic system based on the gradient descends algorithm. First, the nonsingular terminal sliding mode control approach was presented and the...
A two-wheeled self-balancing robot is a special type of wheeled mobile robot, its balance problem is a hot research topic due to its unstable state for controlling. In this paper, human transporter model has been established. Kinematic and dynamic models are constructed and two control methods: Proportional-integral-derivative (PID) and Linear-quadratic regulator (LQR) are implemented to test the...
A variety of camera calibration methods are available from the so-far known literature. But most of them aim at camera with conventional lens, the so-called pinhole camera model. Few attentions have been paid to camera with small field-of-view (FOV) and depth-of-field (DOF) telecentric lens. Therefore an effective calibration method is highly necessary. In this paper a new method is proposed to accurately...
This paper considers path following control of planar snake robots using virtual holonomic constraints. We first derive the Euler-Lagrange equations of motion of the snake robot. Moreover, we integrate the effects of friction forces into these equations. Subsequently, we define geometric relations among the generalized coordinates of the system, using the method of virtual holonomic constraints. These...
Cow-nosed rays can perform diversified swimming modes including linear cruise, pitching, yawing, and gliding. This paper focuses on the realization of these swimming modes. Furthermore, the role of tail fins are taken into account. The phase oscillators with controlled amplitudes have been adopted to build a new central pattern generator (CPG) network that includes six pectoral fin ray oscillators...
The task of removing rain is of great significance for outdoor vision systems such as video surveillance, vision based navigation and so on. Rain produces complex time varying intensity fluctuations in images or videos, which seriously reduce the performance of outdoor vision systems. Due to similar visual appearances of rain and moving objects, the current rain removal algorithms cannot easily distinguish...
Optimal point-to-point motion planning of heavy-duty industry robot was critical between two points in the prescribed time. The dynamic modeling was derived though Lagrange formulation and Spong model; then based on the Pontryagin's minimum principle, optimal point-to-point motion planning problem was constructed considering the gravity effect. Indirect method integration with homotopy mapping was...
STING, a biologically inspired steerable needle robot, has the potential to improve diagnostic and drug delivery therapies in neurosurgery. Real-time path planning for steerable needles remains challenging due to complex kinematic constraints and tissue deformation. Inspired by deformation theory, this paper introduces a “deformation-as-control” method for transforming non-linear path planning problems...
Vision based observation of a moving target is one of the important problems and hot issues of mobile robot system. Dynamical vision sensors which is constituted with multiple robots to obtain improved observational results has been shown to be a good substitution of single vision sensors. Thus, a new active cooperative observation (ACO) method based on two dynamical vision sensors is proposed. The...
Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed...
This document compares global bundle adjustment via the ubiquitous Levenberg-Marquardt to a Kalman filter to estimate parameters of a homographic transformation between two or more images starting from bad initial conditions. We show that the filtering technique outperforms sparse bundle adjustment in terms of projection error and computational costs. The techniques are tested on real world images...
This paper presents a novel approach to obstacle-aided locomotion — pushing against obstacles in the environment to achieve propulsion — of snake robots. These machines are robots designed to mimic the propulsive behavior of biological snakes, and in nature obstacle-aided locomotion is the main means of propulsion for serpents. The solution presented in this paper is based on a static analysis of...
A submersible unmanned aerial vehicle (UAV) is proposed firstly, which is capable of operating in both air and water. One of the outstanding characteristics of the UAV is that the air-water transition imitates that of a gannet, i.e., plunge-diving. In this paper, the plunge-diving process of this UAV is simplified as a water-entry problem with a certain initial velocity, and the impact force is calculated...
This paper presents a novel hand gesture recognition method based on Principal Directional Features (PDF). The image sequence is captured using a fixed mounted monocular camera to recognize dynamic gestures. Haar-like feature based cascaded classifier is used for hand area segmentation. Text based Principal Directional Features are extracted from the segmented images. Longest Common Subsequence algorithm...
This paper develops a motor function recovery exercise device to perform intensive repetition of facilitation exercise for motor functional recovery of the hemiplegic fingers. On the facilitation exercise, active finger expansion can be realized and facilitated by stretch reflex. When the figer is being flexed passively, a stimulation tapping is applied instantaneously on the finger for making strech...
This paper presents a design method to determine the output ratio of a differential mechanism, which is installed in an in-pipe robot with three underactuated parallelogram crawler modules. The crawler module can automatically shift its shape to a parallelogram when encountering with obstacles. To clarify the requirements for the mechanism, two outputs of each crawler mechanism (torque of the arms...
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