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In the past decade, a lot of efforts are devoted to the researches of trajectory tracking of underactuated water surface robots (or boats, surface vessels, etc.), and a batch of controllers are available now for this challenging problem. However, most, if not all, of the existing trajectory tracking controllers of the underactuated water surface robots assume the global positions of the robots can...
This paper proposes a pose-based GraphSLAM algorithm for robotic fish equipped with a Mechanical Scanning Sonar (MSS) that has a low frequency of range readings. The main contribution of this paper is the construction of a pose graph as the front-end part of the normal GraphSLAM algorithm. The proposed algorithm has three stages as follows: 1) scan generation which incorporates a novel Extended Kalman...
This paper presents a starfish-like robot with bionic soft body, multi-motion inspired by live starfishes. The structural design principle is based on the biological investigation. The robot prototype is fabricated with help of 3D printing model. By the locomotion principle and control strategy, the soft starfish-like robot is able to fulfill in crawling on flat ground, climbing over viscous soil...
In this paper, we propose a novel path planning method for a robot manipulator in the case of several obstacles. The path is generated by steps. At each step, a new position of the end effector is found in the Cartesian space. The redundancy of the manipulator, imposes that this position can be found by an infinity of configurations in the joint space. Thus, we search the best configuration which...
Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly,...
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...
Wearable exoskeleton robot is a kind of humanoid service robot to help the elderly and the patients with walking dysfunction, it is also an effective medical rehabilitation method to help patients who have walking disorders due to central neural system damage. This paper focuses on the flexible mechanism design of wearable lower limb exoskeleton robot. A wearable exoskeleton robot prototype was developed...
Mandible reconstruction surgery is an extremely complex and high-risk surgical surgery. The aim of the project is to import the robotics technology into mandible reconstruction surgery, which can reduce the workload for doctors, decrease the difficulty of operation and improve the accuracy and quality of surgery. The development of Mandible Reconstruction Surgery Robotic System (MRSRS) provides a...
In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control...
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...
This paper addresses a problem of locomotion control of a snake-like robot. The discontinuity of the input signal during transition of locomotion is not desirable which may cause a large sliding and slippage. To overcome this problem, a method that produce a smooth transition of the body shape of a snake-like robot is introduced by adopting CPG-based control. Body shape transition is important for...
For a biped pole-climbing robot (BiPCR) with dual grippers to climb poles, trusses or trees, a feasible collision-free climbing path is inevitable. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan a feasible single-step collision-free climbing motion for BiPCRs in spatial trusses. Under the orientation limit of a 5-DoFs BiPCR, a new state representation along with corresponding...
This paper design of a state-action map for an omni-directional mobile walking support robot. The robot realizes the omni-directional movement through a differential drive control mode. The moving direction of the robot is according to the intention of the elderly. We define a state-action map to improve the control efficiency. We defined state space, action space and state transition matrix of the...
Human Machine Interaction (HMI) plays a very important role in intelligent service robot research. Traditional HMI methods such as keyboard and mouse cannot satisfy the high demands in some environments. To solve this problem, many researchers pay attention to vision-based gesture recognition research recently. This paper proposes a simple method to control the movement of a robot based on Kinect...
This paper deals with walking balance control of biped robot inspired by biological concept of sensory integration. The control system is proposed with a trajectory generator and a walking balance controller. The inverted pendulum model is used to generate a more natural and energy efficient biped gait. The walking balance controller, which includes Kalman filter and fuzzy controller, is designed...
A simple, efficient and practical obstacle avoidance strategy for miniature mobile robot in the unknown environment is presented. In this paper, a series of virtual circles are approximated and gradually form the influence region based on the information of the unknown obstacle detected by the local sensing of robot. Then the limit cycle differential equations are used to define the robot's transitional...
Localization is one of the fundamental problems for mobile robots. Hence, there are several related works carried out for both metric and topological localization. In this paper, we present a lightweight technique for on-line robot topological localization in a known indoor environment. This approach is based on the Generalized Voronoi Diagram (GVD). The core task is to build local GVD to match against...
This paper focuses on a further exploration of multimodal locomotion governed by bio-inspired central pattern generators (CPGs). To pursue a better swimming performance, an updated robotic fish is constructed. Besides the improved hardware devices involving higher torque servomotors and powerful processors, some innovative mechanical designs are taken into consideration. Specifically, a well-streamlined...
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...
A bi-branchiate robot is presented for the inspection of the high-voltage power transmission lines. With a symmetrical mechanical structure, the robot can roll along the power lines and negotiating all the obstacles in the lines to complete the inspection work. A hierarchical structure based on modular approach are used to design the control system of the robot. A combination mode composed of teleoperation...
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