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This paper presents a mechanism for the robot moving inside of pipelines. The mechanism is composed of the 2-2D differential gear mechanism, the active adhesion mechanism, and the rescue mechanism. The 2-2D differential gear mechanism is designed to be driven with single actuator at any elbow type pipelines without any additional control efforts. The active adhesion mechanism is for providing sufficient...
This paper presents a novel approach to achieving aerial pitch righting in a mobile robot, inspired by the draglines used by jumping spiders. We developed and simulated a mathematical model of the spider during the aerial phase of its jump to gain further insight into the factors affecting the pitch response. The results demonstrate that the dragline could also potentially function as a brake, slowing...
The pipeline endoscopic system is an important developing direction of the underground pipeline detection device. A new design of pipeline endoscopic system is introduced in this paper. Firstly, the force of the system is analyzed, and the motor, used to control the work status of the system, is selected based on the result of the force analysis. Secondly, the drive circuit and the control circuit...
The article is focused on a measurement system for ground reaction forces in a skid-steering mobile platform. The information derived by such a system is useful for several model based control algorithms which in turn are the base for requirements of a measurement system. The system, that meets the requirements, is proposed and initially discussed. Presentation of a system concept is complemented...
As the research object of this paper, the self-balancing unicycle robot system has some typical characteristics such as multivariable, high order and nonlinearity. In view of the self-balancing unicycle robot system's characteristics, the author built a mathematical model of the system and designed a LQR controller for the self-balancing unicycle robot. Moreover, simulation and experiment are presented...
This paper presents the balancing control application to a hand-carried one-wheel cart that is used for carrying objects by a human operator. Balancing and driving control of the cart is mainly controlled by human power. To help the human power for balancing in the lateral direction, gyro-effect is employed to generate the balancing torque in the lateral direction to maintain the balance. A one-wheel...
In this paper, we introduce the application of Japanese origami art to the floating system of unmanned helicopter model for the case of emergency landing. The “origami floating system” is integrated compactly in the helicopter and expands by an electronic controlled system when the helicopter lands on water. We tested our proposed floating system using three types helicopters, with the origami made...
This paper explores how haptic interfaces should be designed to enable effective human-swarm interactions. When a single operator is interacting with a team of mobile robots, there are certain properties of the team that may help the operator complete the task at hand if these properties were fed back via haptics. However, not all team-level properties may be particularly well-suited for haptic feedback...
This work solves the obstacle avoidance problem extending the Potential Field (PF) method for a mobile robot. The usual definition of the PF has been modified to have a field which is continuous everywhere. It is shown that the system has an attracting equilibrium at the target point, repelling equilibriums in the centers of the obstacles and saddle points on the borders. Those unstable equilibriums...
Mobile robot navigation through sloped terrains is a relevant problem for field robotics. In this context, mobile manipulators can improve tip-over stability by exerting ground contact with the end-effector of the onboard arm. However, this contact can affect vehicle steerability. This paper proposes a case study on the effect of arm ground contact on skid steering locomotion on inclined surfaces...
Dexterity in human hand is connected with the fingertip rolling ability. Controlling the rolling motion of a spherical robot's tip upon a contacted surface is in this work addressed by solving the control of a wheel's rolling motion, moving upon the robot tip's line path. A model free prescribed performance controller of low complexity is proposed guaranteeing the wheel's rolling under any surface...
In this paper we present a prototype system that aids the operator of a Personal Air Vehicle (PAV) by actively monitoring vehicle surroundings and providing autonomous control inputs for obstacle avoidance. The prototype is developed for a Personal Air Transportation System (PATS) that will enable human operators with low level of technical knowledge to use aerial vehicles for a day-to-day commute...
The Fuzzy logic combined with PID control is designed to implement the effect of a disturbance force varying in magnitude, position, and duration to optimize the two wheeled and self-balancing robot. Matlab software was used to obtain Simulink-simulation of the experiment process. The simulation results shows that PID parameters that obtained from the use of auto-tuning is Kp = 16.60, Ki = 8.47, and...
In this paper we present a unique self stabilizing ellipsoidal robot for inspection of underwater structures using the principles of ground effect. Underwater metal structures - whether it is ship hulls or internals of a boiling water reactor - require subsurface inspection to detect internal cracks, hidden cavities and other structural damage. This is usually done with on-contact ultrasonic sensors,...
This paper addresses the problem of cooperative object transportation by two nonholonomic wheeled robots, with the coordination relying exclusively on implicit communication. We implement a leader-follower scheme, considering compliant contact between the object and the follower. Only the leader has knowledge of the object's goal configuration. The follower employs force/torque measurements to keep...
A semi-autonomous mobile self-leveling landing platform designed to launch, recover and re-launch VTOL UAVs without the need for human intervention is described. The landing platform is rugged, lightweight and inexpensive, making it ideal for civilian applications that require a base station from which a rotorcraft UAV can be launched and/or recovered on terrain that is normally unsuitable for UAV...
This work presents a method for assisting people in getting out of chairs with a dynamically stable mobile robot. A user study is described in which force profiles and joint trajectories were recorded for a human-human sit-to-stand experiment. These data were used to develop an impedance-based controller designed to allow the ballbot to help people out of chairs. The control strategy is experimentally...
In this paper we are concerned with the control of unicycle-type wheeled mobile robots in presence of sliding effects. We elaborate two models for control purpose. In the first one, we take into account only the slipping effects. In the second model, we introduce only the skidding effects. For each model, we propose a robust control law against the sliding effects to solve a velocity tracking problem.
In path planning design, potential fields can introduce force constraints to ensure curvature continuity of trajectories to facilitate path tracking design. The parametric thrift of fractional potentials permits continuous variation without modification of the geometric distribution of charge. We define here a normalized Weyl fractional potential field which allows continuous passage between these...
This paper addresses bilateral teleoperation of a car-like rover with communication delay. The proposed teleoperation scheme enables change of linear velocity and steering angle of the rover by pushing and pulling a haptic joystick. An environmental force determined according to relative distances and speeds between the rover and obstacles is rendered to the human operator. The human operator perceives...
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