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This paper presents the development and validation of an automatic steering controller that has been successfully implemented on a 18.3-m articulated bus for revenue service in Eugene, Oregon, USA. The automated steering system provides both lane keeping and S-curve precision docking on a 4-km-long narrow and curving urban segment with six stations and mixed traffic lanes while the operator controls...
This paper proposes an orientation measurement method of a novel permanent magnet spherical actuator with 3D magnet array based on several hall sensors. This measurement method could avoid additional inertial moment and friction, as there is no contact between the measurement system and the rotor. And the accuracy of Hall sensors could be enhanced by the higher flux density produced by the 3D magnet...
Current challenges in robotics are human-robot interaction, light-weight design, and energy-efficient use of robots. Safety for human-robot interaction can be fundamentally established throughout mechanical design using variable stiffness actuators and/or light-weight robotic link design. Also, light-weight design enables energy-efficient use of robots which becomes increasingly important for manufacturing...
This paper outlines the design of a novel teleoperated robotic system that is proposed for the felling process of Pinus Radiata on steep terrain. The system uses arboreal locomotion similar to that used by monkeys for the method of traversal between trees which has not been used in this manner previously. Machine vision for tree recognition and optimal path planning are used to maximize the efficiency...
A novel working biped exoskeleton prototype has been developed for the purpose of advancing research in rehabilitative devices utilizing pneumatic artificial muscles (PAMs). The modular system incorporates novel features, including an actuator layout that bends the PAMs around a radius and transfers force through Bowden cables, allowing for a compact design that did not protrude from the user. 3D...
The study of quadruped robots is an important branch of robotics. As is known to all, quadruped robots can go through the rough terrain easily and they are useful in field operation. Whether quadruped robot can interact softly with the environment is an important index to value its property. This paper presents the preliminary research of a quadruped robot, mainly focus on the mechanical design and...
Android robots with human-like appearance can engage in superior conversational interaction with humans due to their ability to generate expressive faces. In this paper we describe a learning algorithm to map the rich facial features of a human to an Android, capable of replicating them. The methodology we employ is automated, marker-less, and has a high degree of generality. As a result, it can be...
A motion planning scheme that combines the advantage of Modified Tension Spline and a convex optimization framework to accomplish the path planning and path tracking stage, respectively, is compared through simulation results and tested on a 7-axis robot. The flexibility of the convex optimization framework is shown through removing and adding new constraints or objective function according to robot...
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