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This paper describes a new robotic multi-source localization algorithm based on diffusion of robots. Our DIFFUSE algorithm accelerates source localization by combining robot diffusion from purely local communication with random local search. We evaluate our approach on a set of validation benchmarks that provide ground-truth for comparative analysis of multi-source algorithms. Our DIFFUSE algorithm...
Recently, tele-operation of the robot is needed with getting force information. To realize tele-operation with force feedback, high accuracy force control is essential. However, torsional vibration of multi-mass resonant system is a serious problem to operate robots. Vibration suppression in motion control system is important problem in industry applications. In this paper, the system that is 3-mass...
This paper examines the technique of partial feedback linearization for the positional control of the joints of a humanoid robot. The unique dynamical model of the humanoid robot is first presented. The dynamics have an Euler-Lagrange form but also contain mixed-continuous/ discrete forces that arise due to contact constraints. The mixed-continuous/discrete contact forces are modeled by using linear...
To have a complete model of a thunniform Fish-Robot, models of both body and tail are required. The dynamic model of the body is developed according to the parameters of a thunniform Fish-Robot built in MIT University, while, as the main part of this paper, the dynamic model of the tail is developed using fuzzy logic. Using experimental data and table look-up scheme, a fuzzy black box is introduced...
NASA is supposed to implement a sustainable and affordable human and robotic program to explore the solar system and beyond as it is the first goal of The Presidents Vision for U.S. Space Exploration. The robotic exploration across the solar system consists of exploring Jupiters moons, asteroids and other bodies to search for evidence of life, and to understand the history of the solar system. Trajectory...
The exploratory visualization of 3D data sets or multiple axis motion control of a monitoring camera mounted on a six-axis robot often require the user to control the viewing orientation and position of a camera view within a 3D space. This paper describes the design of an inertial motion sensing system, which uses only accelerometers to provide interactive 3D control of both orientation and position...
In this paper, the problem of position and force control of a robotic manipulator in contact with the environment is considered. The Hybrid Impedance Control (HIC) methodology is employed to control the position of the end-effector in such a way that the robot exhibits a desired dynamic property and hence desired Impedance which in turn results in tracking the interaction force. It is assumed that...
This paper presents control and implementation of the mobile manipulator with balancing mechanism whose goal is to serve human being in home environment. The mobile manipulator has two arms to handle objects. Not only position control but also force control of the balancing service robot is presented. The robot has two modes to move : mobile robot mode with 4 contact points and balancing mode of 2...
Recently, doctor and medical care persons are shortage by the aging of population. Thus, support systems using a robot are needed for future medical care. The position controller and velocity controller are used in order to operate the human support system. However, these controllers cannot consider complicate and natural human motion. This paper proposes a method of human support system using motion-copying...
In this paper we address the trajectory tracking problem for groups of mobile robots. We consider trajectories described by completely arbitrary shaped closed curves. The proposed control strategy is a completely decentralized algorithm, and does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions.
This paper describes the design and development of a new actuator with adjustable stiffness (AwAS) which can be used in robots which are necessary to work close to or physically interact with humans, e.g. humanoids and exoskeletons. The actuator presented in this work can independently control equilibrium position and stiffness by two motors. The first motor controls the equilibrium position while...
A remote control robotic system using bilateral control is useful for performing restoration in damaged areas. The system consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place. A fork glove is equipped with the front end of the excavator as a hand for grasping task objects. The master and the slave in this system correspond to, respectively,...
Operability/transpancy is of vital importance in telerobotic systems. For fear of collision between the end-effecter and the objects, human operator must make strict observation on the visual image and carefully plan small pieces of motion of the robot at a time. This makes operability worse. Good force telepresence can reduce the workload of human operator, overcome the limitation of vision information,...
A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible...
This paper investigates the cooperative work of distributed robot maintaining retention of swarm, especially in the case of going up slope. Our control law to keep the high retention of the robot swarm has been developed, and its effectiveness for an environment with obstacles has been confirmed by using ODE (Open Dynamics Engine). This paper considers an environment with the slope and investigates...
Bilateral teleoperation is expected to be a key technology for the next generation of robots. Indeed, in many fields of operation, a master-slave system is needed to remotely perform tasks in unknown environments. However, most ground-based haptic devices show some limitations when exploring large workspaces with a high mobility slave robot. In order to address this issue, a hybrid control strategy,...
The walking procedure of the cattle, Bostaurus, on a paddy field before spring plowing was captured with a high-speed video camera. The properties of the paddy soil used for tests and the geometrical configurations of the hooves of the cattle were examined. The geometrical configurations and motion postures of the cattle during walking on paddy field were analyzed, and the gait parameters were gained...
This paper presents the preliminary design of an aerial vehicle testbed based on the GFS-UAV implementation, namely the “CoandaJLTCraft”. The modified GFS-UAV design uses the Coanda principle to provide lift with enough Vertical Thrust (VT) generated by the Coanda flow. The lift coefficient of the Coanda profile is investigated in our laboratory. A novel steerable design is introduced. This novel...
Many science fiction novels have envisioned swarms of artificial microrobots capable of performing complex collective tasks. Unfortunately, today's technological constraints have prevented such powerful concept to be a reality when considering artificial microrobots. In this paper, we show that a swarm of computer-controlled flagellated Magnetotactic Bacteria (MTB) acting as natural microrobots of...
This paper describes the experimental evaluation of a novel Autonomous Surface Vehicle capable of navigating complex inland water reservoirs and measuring a range of water quality properties and greenhouse gas emissions. The 16 ft long solar powered catamaran is capable of collecting water column profiles whilst in motion. It is also directly integrated with a reservoir scale floating sensor network...
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