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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...
According to its motion input and output characteristics of the repeated foldable wheel, a set of systematic design method is put forward. Based on the motion characteristics and functions of the repeated foldable wheel, its three modules is named. The folding-unfolding wheel module is synthesized on configuration synthesis method, design concept of the wheel, mechanism superposition and graph theory...
In this paper a very accurate and efficient algorithm to compute the inverse kinematics of universal spindle-tilting type five-axis machine tools are presented. The spindle-tilting type five-axis machine is similar to a general serial 5R manipulator. The main idea is computing the complex inverse kinematics of universal spindle-tilting type five-axis machine to realize post processing. The proposed...
Combining functions with aesthetics, characters with drawings, Chinese calligraphy is a unique type of traditional art in China. To mimic the special writing skills, we develop a calligraphy robot which consists of one 6-DOF robot arm, one linear rail and one paper conveyor. This calligraphy robot, called Callibot, has several features. Firstly, it has sufficient degrees of freedom and very few singularities...
This paper presents a predictive kinematic control method for a three-wheeled omnidirectional mobile robot on the basis of MY wheel-II assemblies. Firstly, the kinematic analysis is conducted, which shows that eight possible models can be employed in the controller to produce the desired motor velocity for servo motors. Then for each finite fixed prediction horizon, a predictive control strategy is...
Skid-steering mobile robots, both wheels and tracked vehicles, are widely used because of their simple mechanism and robust. However, due to the complex wheel-ground interactions and the kinematics constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop a kinematics modeling estimation scheme to analyze the skid-steering wheeled...
Patients with Parkinson's disease have symptom of walking disorders which can be alleviated by surgery. By evaluating gait kinematics, the effect of medical treatment can be quantitatively assessed. In this paper, a method using image markers based on rigid body was introduced to set markers on anatomy key points of human lower limbs, which efficiently reduced the measurement errors coming from the...
This paper introduces a flexible and general control system architecture that allows for modelling, simulation and control of different models of maritime cranes and, more generally, robotic arms by using the same universal input device regardless of their differences in size, kinematic structure, degrees of freedom, body morphology, constraints and affordances. The manipulators that are to be controlled...
In their search for perfection and competitiveness, Colombian industrial concerns now see in robotics a viable way to improve their processes. On such ground, this paper proposes design methodology of a parallel Delta-type industrial robot. This type of robot is an alternative for Colombian industries, since its great advantages of Speed, Precision, and Accuracy make it usable in product packing and...
In this paper, an on-line motion planner is described to determine an optimal and collision-free trajectory for fixed wing vehicles moving in a 3D space populated with static hills and movable obstacles. The proposed method is mainly based on the polynomial parameterization of trajectories, which is beneficial to explicitly consider the kinematic constraints and the geometric constraints resulted...
In this paper, an upper limb rehabilitation robot based on virtual reality is developed to improve therapeutic efficacy. With the help of the robot, the patients can reach virtual items appearing randomly with impaired limbs in a virtual environment. The kinematics of the robot is analyzed and the appearance rules are made to avoid mechanical interference between the arms. Both passive mode and active...
Single Port Surgery (SPS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) bring the benefits: reduced surgical trauma and less patient's burden. However, they are still limited in the area of instrument dexterity and operability. This paper presents an Insertable Surgical Robot (ISR) for Single Port Access Surgery (SPAS), this robot uses multi-level architectures in the field of endoscopic...
Compared with Autonomous Underwater Vehicle driven by traditional screw propellers, robotic fish is characterized by some desired features as high maneuverability and low noise. The research on bionic robotic fish which is propelled by paired pectoral fins has been gradually becoming hotspot in the field of biomimetics and robotics. Based on the research of cownose ray, the profile curve of pectoral...
Sir J. Lighthill mathematical slender body swimming model formulates the biological fish propulsion mechanism (undulation) in fluid environment. The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion. A 2-joint, 3-link multibody vehicle model biologically inspired by a Body Caudal Fin (BCF) carangiform fish propulsion mechanism is designed. Different...
Transferring skills from humans to robots is an appealing way for teaching artificial systems to perform a variety of different tasks. In this context, imitation learning appears as an important approach for teaching robots due to the generation of human-like movements and the ease of teaching new tasks. This paper addresses the use of a Kinect-based human motion capture system and the reproduction...
Learning by imitation is becoming increasingly important for teaching humanoid robots new skills. The simplest form of imitation is behavior copying in which the robot is minimizing the difference between its perceived motion and that of the imitated agent. One problem that must be solved even in this simplest of all imitation tasks is calculating the learner's pose corresponding to the perceived...
In this paper, a 7-DoF robot table tennis system is presented, which adopts a stereo vision system as its perceptional sensor and a humanoid robot arm as its manipulator. The batting policy, which can return various incoming balls to a desired location, is learned through empirical data based on e-support vector regression(e-SVR). Two experiments, playing with a launcher machine and rallying with...
Mudskippers exhibit the unusual feature of the fact that they not only can walk on land, but also uniquely adapt to intertidal habitats, their excellent amphibious performance inspire many researchers to develop amphibious biomimetic robots. In this paper, the morphological parameters of the mudskipper were measured Then, a simple and efficient high speed photography system was introduced to investigate...
In this paper, a novel method was presented to investigate the hydrodynamics of a robotic fish at different Reynolds number. The ionic polymer-metal composite (IPMC) was used as the soft actuator for biomimetic underwater propulsion. A hydrodynamic model based on the elongated body theory was developed. Based on image analysis, the kinematic parameters of the robotic fish were identified. To obtain...
The objective was to generate human-like social motion in a human-looking humanoid robot following the biomimetic approach. We thought that the robot's motion should be human-like for their social acceptance and it could be done if and only if (i) the robot appearance is made human-like, and (ii) human kinematics is implemented in the robot to generate the motion. To address the above, we introduced...
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