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This paper presents the idea of employing constraints to expand the workspace of Underactuated Flexible Manipulators (UFM). The constraints are divided into two types: bilateral constraint (BC) and unilateral constraint (UC). Under the constraints the UFM is segmented into two sections: the anterior constrained section and the distal free section; moreover, the motion of the UFM is altered, i.e.,...
Wearable motion tracking systems represent a breakthrough in ecological motion tracking. Their effectiveness has been proved in many fields, from performance assessment to human-robot interaction. Most of the approaches are based on the exploitation of optimal probabilistic filtering of inertial motion units (IMUs) signals, ranging from linear Kalman Filters (KF) to Particle filters (PF). Since most...
Parameter identification for N-DOF hydraulic robots (e.g., BigDog, PETMAN and developing automated excavators) is not an old problem at all. Indeed, recent papers still identify difficult parameters (the bulk modulus and the flow gain coefficients) by trial and error. This paper is the first report to solve this problem. First, new structural properties of hydraulic robots are found in comparison...
This paper presents mechanical system dynamics modeling analysis and control of a novel compliant flexure-based micro-parallel positioning stage. The designed microparallel positioning stage consists of a mobile plate, a fixed base, and three limbs with identical kinematic structure. Certain geometric conditions are adopted to make the mobile plate with purely 3 translational degrees of freedoms....
This paper presents a novel six-legged parallel robot, the kinematic model of which is simpler than that of the simplest six-axis serial robot. The new robot is the 6-DOF extension of the Cartesian parallel robot. It consists of three pairs of base-mounted prismatic actuators, the directions in each pair parallel to one of the axes of a Cartesian coordinate system. In each of the six legs, there are...
A novel compliant robot is proposed for traversing on unstructured terrains. The robot consists of modules, each containing a link and an active wheel-pair, and neighboring modules are connected using a passive joint. This type of robots are lighter and provide high durability due to the absence of link-actuators. However, they have limited climbing ability due to tendency of tipping over while climbing...
Underactuated mechanisms are commonly used in robotic hands and grippers to improve their ability to adapt to the shape of an object. These underactuated mechanisms can be characterized by their global stiffness as measured by their actuator. Using this with self-adaptive fingers, it is possible to elaborate equations highlighting the relationship between the stiffness measurements and the contact...
This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. The robot can work like a four-tracked robot for moving on many terrains. Moving posture during robot stairs climbing is discussed, this is a typical case and is useful for designing the robot platform. Static stability analysis of the robot performance on rough terrains is complicated,...
Aimed at the carangidae robotic fish with a multi-joint caudal fin, a circle threshold interval discretion (CTID) method is proposed to fit the traveling wave of the fish body. Firstly, a circle is established by using the known length of tail joint as a radius, and there is a intersection point between the circle and the traveling wave of fish body. Then, the values of error equation are respectively...
The vibration suppressive control problem is a challenge of flexible-joint space manipulators, which is settled by solving the energy optimal nonlinear control problem in this paper. Based on Legendre pseudo-spectrum method, the nonlinear model of optimal control problem is converted into the corresponding nonlinear programming problem. The complex and difficult two-point boundary value problem is...
In allusion to the problem of inadequate motor drive ability and low efficiency in the current research on quadruped robot, this paper puts forward the use of coupling driving leg mechanism to establish quadruped robot and designs coupling driving hip joint of compound motion pattern. It can have compound motion at multiple angles as two motors in hip joint select different directions of rotation...
Based on the excellent mechanical structure of the wheel-foot multi-joint mobile robot, we have strictly deduced the direct and inverse kinematical formulas of the robot's legs. So the theoretical method and technology of gaits control for the wheel-foot multi-joint mobile robot have been explored out. By precisely analyzing the obstacle performance and the workspace of the robot's feet, the constraints...
Human body walking movement involves both single and double support phases and is considered difficult to model. The aim of this study was to develop a method to capture human body dynamics during walking using Recurrent Neural Networks (RNN). In addition, a novel method using persistent excitation data generator is proposed to generate kinematic data to train the RNN in the absence of laboratory...
This paper proposes a pneumatic gripper that allows gripping of the human body aimed for the transfer support, whether the body is lying down or leaning against the back support on the chair. To grip the body safely and comfortably under any conditions, two functions are newly introduced. One of them is “shape adaptive joints” which enable every gripping force to be equally distributed at each contact...
We propose a framework to use full-body dynamics for humanoid state estimation. The main idea is to decouple the full body state vector into several independent state vectors. Some decoupled state vectors can be estimated very efficiently with a steady state Kalman Filter. In a steady state Kalman Filter, state covariance is computed only once during initialization. Furthermore, decoupling speeds...
We present a novel analytical approach to computing the population and geometric parameters of a multi-robot system that will provably produce specified boundary coverage statistics. We consider scenarios in which robots with no global position information, communication, or prior environmental data have arrived at uniformly random locations along a simple closed or open boundary. This type of scenario...
Biped robot locomotion is one of the most challenging fields in humanoid robots. Many gait generation models are introduced to have stable walking similar to human. One of the gait generation models is Central Pattern Generator (CPG) which can produce complex nonlinear oscillation as a pattern for walking. In this paper joints trajectories are calculated by using polynomial equations for the support...
The WSNs are developed to sense, gather, process and transmit the real-world information and so in recent years, solving numerous challenges of wireless sensor networking are considered intensely. In this paper based on compressive sensing two frameworks denoted as IndM and ECM are proposed to compress and reconstruct the signals of the sensors even for networks which the data transmission is imperfect...
Starting from Neyman-Pearson criterion, this paper derives an optimal spectrum sensing scheme which exploits spatial diversity among multiple cognitive sensors and temporal diversity among consecutive time slots jointly. In the proposed scheme, the impact of the imperfect reporting channel on the design of the spectrum sensing scheme is effectively integrated. Simulation results show that compared...
In this paper, spectral efficiency (SE) is investigated for cooperative ultra-wideband (UWB) based on-body area networks (OBANs). To optimize SE for single-relay cooperation, an equivalent generic cooperative model in UWB based OBANs is established first. With the proposed model, joint optimal relay location and power allocation for cooperation is then derived to solve the SE maximization problem...
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