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Compared to homogeneous robotic teleoperation system, the design and control of heterogeneous robotic teleoperation system are facing greater challenges, due to the differences in the mechanical structures, DOFs (Degree of Freedoms) and task spaces between the master and slave robots. In this paper, first, a heterogeneous teleoperation system is designed where a Phantom Omni haptic device is utilized...
Due to the great performance in complex and narrow spaces, snake-like robots, especially snake arm robots, have gained increasing attention in recent years. In this paper, a novel cable-driven snake arm robot is proposed. For greater flexibility, the snake arm not only has multiple two-degree-of-freedom joints, but also has telescopic modules that have one degree of freedom. The kinematics and statics...
In this paper, a radial basis function neural network was used to solve the robot arm with 4 DOF of a self-designed service robot. Firstly, the D-H model was established for the manipulator and the analysis of forward kinematics was carried out, and the transition relation between the connecting rod coordinates was obtained. Then, according to this relationship, the sample data from joint space to...
It is one of the main directions of robot development to improve the security of robot and realize the safe human-robot collaboration. Collision detection is its basic function. In this paper, a robot collision detection algorithm based on robot velocity deviation is innovatively proposed. Due to the delay of the robot servo system, the actual velocity lags behind the ideal calculation velocity. The...
Real-time and accurate robot detection and localization is important for the RoboCup Middle size League (MSL) soccer robots. In the current robot detection methods used by most of the teams, the black-color-based information is used to distinguish robots from the environment, which is not robust if the robot changes its makers' color according to the current rule. Considering the good performance...
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