The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Conference proceedings front matter may contain various advertisements, welcome messages, committee or program information, and other miscellaneous conference information. This may in some cases also include the cover art, table of contents, copyright statements, title-page or half title-pages, blank pages, venue maps or other general information relating to the conference that was part of the original...
Online path planning for multi-robots in complicated and dynamic environments is a difficult and hot issue in the field of robotics. Many traditional path planning methods cannot meet the requirements of online and real-time processing. Neuro-dynamics-based method has an aptitude for online and real-time path planning in complicated and dynamic environments. However, this method still has shortcomings...
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)...
Brain-computer interface (BCI) controlled wheelchair robots can serve as powerful aids for severely disabled people in their daily life, especially to help them move voluntarily. In order to better understand human “thought”, owing to the development of the hybrid brain/muscle interface technique, in this paper, we present a real-time hybrid brain/muscle interface to control a wheelchair directly...
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...
The nano-positioner driven by magnetostrictive actuator is composed of a magnetostrictive actuator and a positioning mechanism (PM). Due to the existence of hysteretic nonlinearity in the magnetostrictive actuator and the friction behavior in the PM, the accurate position control of the nano-stage is a challenging task. This paper discusses the high precision control for the magnetostrictive nano-positioner,...
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 the construction and control of a turtle-like underwater vehicle, which uses four single axis oscillation flippers for swimming and attitude control. The maneuvers are realized by the composition of appropriate angular offset, vibration amplitude and vibration frequency of the flippers. After analyzing the actuated flippers' motion and the swimming gait, a CPG-based (central pattern...
This paper mainly discusses the sensing and measuring system for a hand rehabilitation robot. Through analyzing the whole system structure and rehabilitation strategies of hand rehabilitation robot, a sensing and measuring system scheme is designed. By integrating joint position sensors and force sensors, the robot can perceive the joint angle information of patient's finger and the interaction force...
The mole is an axially symmetric intrusion device, which can be treated as a carrier of different sensors that investigate the subsurface environment and properties of the material component. To some extent, the maximum penetration depth of a single stroke for hammer-driven mole is not only limited by the stroke energy but also the influence of the soil resistance which links to the shape of the front...
In this paper we present a method for the generation of hand postural synergies for different precision grasp types to be used in dextrous robot hands. Our method records the robot hand motions while teleoperated by human subjects via a dataglove, doing different grasp types on a series of objects. This exploits the fact that humans automatically compensate for calibration errors on the glove to robot...
In this manuscript, we propose the design of a fishlike underwater robot composed of a flexible thin plastic film. We utilized a vacuum packaging machine to fabricate the entire body of the robot. We call this fabrication robot packaging. This robot packaging method decreases the air remaining in the body of the robot, allowing the robot to maintain neutral buoyancy. This manuscript also discusses...
In this paper a new slicing method for filling an arbitrary polygon with 3D-balls for a 3D plastic droplet generation process is presented. The work principle of the 3D plastic droplet generation is to squeeze the plastic material through a nozzle, out of which small hardened balls are formed and based on the contour and infill algorithm the 3D objects filled with plastic droplets are layer-wise created...
In this paper, we propose a method for self-assembly of polymer gel components under agitation by shaking. Polymer gel components were synthesized from anionic and cationic monomers. In order to assemble gel components automatically, we utilized the electrostatic interaction between the cationic and anionic gels with an external disturbance. We succeeded in demonstrating selective adhesion and precise...
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...
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...
A variable stiffness actuator is proposed according to the human ergonomic joint actuation mechanism and applied to an elbow rehabilitation robot. The robot employs an antagonistic compliant driving actuation to ensure rehabilitation training effectiveness and the patient's safety even under the condition of spasm. The robot joint stiffness and position can be controlled simultaneously by using the...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.