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Search and rescue robots are being used more frequently to access hazardous environments to assess situations and locate survivors. There are a wide range of existing mobile platforms for various situations and environments, but these robots are typically bulky, heavy or expensive, limiting their widespread and practical use in case of disaster mitigation. Also, like most robots, locomotive robots...
This work aims at developing a motor path generator for applications in mobile robotics based on a chaotic neural network. The computational paradigm inspired by the neural structure of microcircuits located in the human prefrontal cortex is adapted to work in real-time and used to generate the joints trajectories of a lightweight quadruped robot. The recurrent neural network was implemented in Matlab...
The present generation of surgical tools is reliant on drills and cutting tools that cannot navigate through small corners present in complex bones such as the spinal column. This paper summarizes the development of a flexible robotic surgical system to be used in minimally invasive spinal surgery (MISS), targeting the removal of cancerous tissue. The cutting system consists of a flexible drill and...
We have developed a wearable mobility and the interface to control the mobility, which is operated according to motions of lower legs of a wearer with the mobility. They are small wheeled mobile robots, which are mounted at sole of the both feet. In this paper, we introduce the developed mobility and propose a new interface to handle the mobility instinctively for the wearer with the mobility. Then,...
Social robots can benefit by adding deceptive capabilities. In particular, robotic deception should benefit the deceived human partners when used in the context of human-robot interaction (HRI). We define this kind of robotic deception as a robot's other-oriented deception and aim to add these capabilities to the robotic systems. Toward that end, we develop a computational model inspired by criminological...
Navigation is one of the key issues of biped robot, especially in complicated and uncertain human-living environment. There have been challenges for ensuring the stability, efficiency and security of the biped navigation system. In this paper, a framework utilizing sampling-based footstep planner is proposed for the simulation of the biped navigation. Sensor fusion method is adopted to process and...
In this paper, a Genetic Algorithm is used to solve for the optimization problem of a quadruped rover, which is developed based on a two-dimensional model of a domestic cat. The rover's gait, pose and control parameters are optimized for two separate objectives. First, the energy consumption through applied joint torque is minimized for fixed thrust speeds. Secondly, the rover's thrust speed is maximized...
Cyclical locomotion, such as walking, hopping and running, is known to be generated at the spinal cord, guiding human and animal strides over different gaits. Over the last years, many researchers concentrated their study on the origin of such signals, replicating them by either controlling joint angles or torques. In this work, we use a quadruped pneumatic robot to reproduce stable walking on a treadmill...
Adaptability of quadruped animals is not solely reached by brain control, but by the interaction between its body, environment, and control. Especially, morphology of the body is supposed to contribute largely to the adaptability. We have tried to understand quadrupedal locomotion by building a bio-inspired quadruped robot named “Pneupard”, which has a feline-like muscular-skeletal structure. In our...
In this paper we analyze characteristics of the ground reaction force (GRF) experienced by the legs of the quadruped robot during stance phase in walk gait, in particular, when the height of center of gravity (COG) of the quadruped robot is changeable. We also build the dynamics model of the quadruped robot. Two dynamics equations during swing phase and stance phase are established, respectively....
Legged locomotion is an open problem in robotics, particularly for non-level surfaces. With decreasing robot size, different issues for climbing mechanisms and their attachment and detachment appear due to the physics of scaling. This paper describes micro-scale phenomena for different adhesion methods that can be employed in microrobots. These adhesion methods are applied to a sub-2 gram legged robot,...
This paper presents a lower limb rehabilitation robot based on free gait and virtual reality, which is intended to improve therapeutic efficacy. With the help of the robot, patients with motor disabilities can walk with free gait in a virtual environment and choose between passive and active training modes. So the impaired limbs can get appropriate exercise in all clinical stages and the motivation...
This paper develops a hemiplegic walking functional recovery training device. This paper proposes a power assist mechanism, hip joint and knee joint motion adaptation mechanism based on the movement of the joints of the human body, mechanism corresponding to the individual differences in body shape, and mechanism to prevent side-overturning. The designed prototype of the device, then the effectiveness...
The paper describes audio-visual feedback to assist people's cognitive activities by using a mobile robot. Robot assistance provides promising aid for people in rehabilitation. In literature, physical assistance with power-assist limbs and mobile support platforms have been studied well. On the other hand, cognitive assistance also plays an important role in rehabilitation especially for recognition...
To improve the efficiency of multi legged climbing robot, a dynamic climbing gait is proposed for a gecko inspired mechanism with a pendular waist and linear legs (GPL). Then, a mathematical model is built and the kinetics of the climbing gait is illustrated. Trajectory of the waist, identical to centroid of the GPL model, is also discussed in this paper. The forces at the feet of GPL are calculated,...
Attracted by the fact that there are lots of demands for robots working in the amphibious environment, this paper proposes a novel, simple and efficient leg for amphibious robots. That leg is made of the elastic material. The leg could deform a curve-like one passively, forced by the resistance when moving on the ground. Moreover, the leg would recover straight, fin-like, promoting the robots swimming...
The aerial posture adjustment of jumping robots are very important for them to land safely. The body of our previous jumping robot rotates in the air which may lead to damage of its fragile parts during landing. In this paper, the aerial posture adjustment of the robot is investigated by modeling and simulation. Firstly, inspired by aerial posture adjustment of animals and insects, the robot model...
Because of the limited space and enormous forces in the human foot, researchers generally simplified the foot as a rigid body in the development of lower extremity exoskeletons and biped humanoid robots, which led to unsatisfying performance on flexibility and auto-stability. In this paper, we propose a novel parallel mechanism with seven degrees of freedom (DOF) to realize the main possible movements...
The design of the LEESD, a new exoskeleton for old people and patients, is presented in this paper. With one active degree of freedom (DOF) and two passive degrees of freedom, the LEESD can realize human walking gait. The hip joints and knee joints of the LEESD are directly driven by four-bar linkages and all these four-bar linkages are driven by merely one brushless DC motor which rotates at a constant...
Stable walking of bipedal humanoid is an crucial and challenge issue of research in bipedal robots. And the structure of shoe sole plays a significant role in preventing someone from slipping in human life. The humanoid robot foot often skid while the robot is walking fast, and it may cause serious harmfulness. This study presents some foot pads for humanoid robot to improve its stability and reliability...
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