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This paper aims to investigate the function of constant feed-forward control from the reticulospinal tract (RST) on improving posture stability during standing from the viewpoint of ability to countering the disturbances. We presented a stance control model considering not only the balance control, a PD controller, from vestibular tract based on vestibular feedback but also the constant feed-forward...
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...
It is a very challenging problem to make robot vision autonomously identify and recognize objects in the real world, and the recent research in this field has been moving forward mostly through designing smart shape descriptors for providing better similarity measure. In this paper, we propose a novel shape descriptor called hierarchical representation to describe the object shape efficiently and...
A Personal Robot should be able to handle possible unknown objects in unknown environments. For a manipulation task the question what to do with an object once it had been grasped is one of the most essential ones beside the grasping task itself. We propose a placement planner for sensor-modelled objects in complex environments. The planner computes a stable position and orientation for the object...
The homography between image pairs are normally estimated by minimizing a suitable cost function given 2D keypoints correspondences. The correspondences are typically established using descriptor distance of keypoints. However, the correspondences are often incorrect due to ambiguous descriptors which can introduce errors into following homography computing step. There have been numerous attempts...
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...
Compressive sensing has opened up a new path to reconstruct images from a number of samples which is far smaller than the desired resolution of the images. A novel single pixel camera system has been developed based on this theory, and it can reconstruct images with a single optical sensing element. However, the development reminds challenge because the image recovery process is complex. For example,...
The skill level of teleoperator plays a key role in the telerobotic operation. However, plenty of experiments are required to evaluate the skill level in a conventional assessment. In this paper, a novel brain-based method of skill assessment is introduced, and the relationship between the teleoperator's brain states and skill level is first investigated based on a kernel canonical correlation analysis...
In this paper, the design, analysis and fabrication of a quadruped wall-climbing robot is presented. Inspired by the climbing gaits of geckos, the robot has kinematics similar to a gecko's motion. Unlike geckos stick on the wall surface with Van del Waals force, the robot is based on electrostatic adhesion force induced by a specifically designed electrostatic adhesive footpad. By combining the bionic...
A wall climbing robot based on negative pressure suction is designed, modeled and analyzed for service inspection of glass walls. Statics and kinetics analysis are conducted in order to guarantee the rational design. For reliable adsorption and stable motion of the robot, the friction forces of the front and rear wheels are determined by equations related to the robot size, weight, location of the...
Biomimetic building-climbing robots have been applied extensively; however, no suitable sticking mechanism was found for robots climbed on high-altitude, rough concrete walls that are subjected to large vibrations. This manuscript presents a new sticking method based on the mechanism of biomimetic grip claws and presents the design of a robot for detecting rough concrete buildings. To study the forces...
This paper presents simulation and analysis on dynamics of a hybrid mobile robot. The robot is designed to take advantage of both rolling and jumping locomotion ways on the ground. The most outstanding feature of the robot is the minimum use of actuator. The robot is designed to be able to execute both jumping and rolling skillfully by using only one DC motor. Mechanism design and control logic are...
Aiming at recognizing the complex terrain of coal mines, in order to perform path planning and safe navigation, the first thing is to solve the problem of traversability analysis for coal mine exploring robots. This paper designed a model for traversability analysis on uneven terrain based on rough sets. By comprehensively analyzing the terrain features and classification features etc., this model...
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...
This paper presents a novel method to identify and boost difficult regions of in the configuration space (C-space) in changing environments. Difficult regions, especially narrow passages, change their shapes frequently in changing environments, which result in challenging problems to find valid and safe paths. Although a lot of research has been done to identify difficult regions, seldom methods provide...
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...
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...
Human safety plays a crucial role for the symbiosis between humans and robots. Moreover, it is also important to maintain the robot's efficiency while keeping the human unharmed. With this purpose, we previously developed Asymmetric Velocity Moderation (AVM) as a reactive strategy for human safety. Nevertheless, this original AVM only considers the end-effector's movement. This may lead to overrestrictions...
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...
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...
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