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Various robotic systems have been proposed to provide assistance in activities related to daily living and in physical therapy. Our consortium developed a prototype assistive robotic module, called the "smart mobile walker," which is a motorized walker. This robotic device was developed to assist with the mobility of senior citizens and persons with disabilities such as stroke survivors...
Currently existing dynamic models for a two-wheeled inverted pendulum mobile robot have some common mistakes. In order to find where the errors of the dynamic model are induced, Lagrangian method and Kane's method are compared in deriving the equation of motion. Numerical examples are given to illustrate the effect of the incorrect terms. Finally, a complete dynamic model is proposed without any error...
The 4-Wheel Skid-Steering Mobile Manipulators (4W-SSMM) have been widely used in many complex task environments, in which, it often encounter all sorts of complicated driving conditions. In these situations, excessive slipping would be likely to happen, and the robot's tracking stability cannot be assured. In order to solve this problem, a stability control scheme which is based on the slip ratio...
Currently, there are no cases of the bolting with robot. The industrial dual-arm robot is being developed to be used for bolting process in the assembly line. The dual-arm robot has advantages in the workspace compared to footprints. For example, assembly of big panel of LCD/LED/PDP demands small footprint and large workspace that is similar to human's one. We implemented bolting process with the...
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