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The paper is aimed at establishing a platform of robotic fish propelled by paired pectoral fins, so as to research pectoral fin propulsion. Locomotion of nature sample, cow-nosed ray, was analyzed before simplified mathematical model was obtained for design of the robotic fish. Locomotion of the pectoral fins is equivalent to the pass of oscillating motion from front to back in the form of cubic function...
The Transverse Function (TF) approach is applied to the tracking control problem for a nonholonomic three-segments/snake-like wheeled mechanism similar to a planar low-dimensional version of Hirose's Active Cord Mechanism (ACM). Unlike earlier studies devoted to this type of serpentine mechanism and based on the computation and sequential application of a discrete number of open-loop control primitives,...
A snake-like robot has an advantage in moving into a narrow space. Particularly “pedal wave”, which is one of its locomotion styles, is suitable for entering a thin path. However, pedal wave have been used only for going straight in most of the prior studies. In particular horizontal steering of pedal wave by a real robot has not been investigated sufficiently. Therefore in this paper we studied a...
This paper discusses the design of a new snake-like robot without wheels, named ACM-R7. It has 18 DOFs, is 1.6 m in length and weighs 11.7 kg. It features a water-tight structure, a large motion range pitch joint of ±90 degree and a high output-power actuator arrangement, based on the coupled drive concept. Furthermore the control method “Loop Gait” is discussed. For this gait the ACM-R7 forms a loop...
This paper presents a new interactive force in shape control to deal with group fragmentation during movement toward a desired shape. The proposed interactive force can maintain minimum distance between agents as well as group unity. Unlike other collective potential functions which have only one local minima, the proposed one has a local minima area which increase the flexibility of group during...
There are several applications for which it is important to both detect and communicate changes in data models. For instance, in some mobile robotics applications (e.g. surveillance) a robot needs to detect significant changes in the environment (e.g. a layout change) which it may achieve by comparing current data provided by its sensors with previously acquired data (e.g. map) of the environment...
Much like a falling cat can reorient itself to land on its feet, a climbing robot should also reorient itself to minimize damage during a fall. This paper presents and analyzes the dynamic motion of a modular robot, called CKbot righting itself during a fall. It presents a mathematical model of the falling system that correlates well with experimental reorientation results about one axis. The model...
The humanoid robot is expected to operate in hazardous and emergency environments. So teleoperation is necessary to control the remote robot. Simulation is one of the key technologies in teleoperation system. This paper puts forward 3D-simulation for the teleoperation of the humanoid robot BHR-02 based on Maya and VC++. The robot model is built based on the real robot structure and moving character...
Serpentine motion is the most commonly seen locomotion style for snakes. Hirose proposed his famous kinematic equation to describe the serpentine motion which is widely used in the locomotion of snake-like robots. Based on the equation, the serpentine motion has constant amplitude of bending angles for the whole length of a snake. However, based on the observation of a real snake, the bending angle...
Urban search and rescue (USAR) involves locating, rescuing (extricating), and medically stabilizing victims trapped in confined spaces. In this paper we state the current approach to USAR, address the limitations and discuss the way for moving in rugged topography. To achieve objectives such as surveillance, reconnaissance, and rescue, it is necessary to develop a driving mechanism that can handle...
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