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Omni-directional Wheeled Mobile Robots (Omni-WMR) are holonomic system able to move sideways. They have locomotive advantage and are widely deployed in a larger range of application fields, especially in narrowly constrained service-styled manufacturing industries. To ensure smooth motion and full development of locomotive advantages, motion planning draws great attention. Thanks to the mechanism...
This paper presents the architecture of system that has been developed for practical verification of the real-time control algorithms performance intended for servicing mobile platform. The system has been implemented using the hardwaresoftware framework developed within RobREx project. This framework is a composition of a well integrated software tools and hardware devices dedicated for developing...
In this paper we propose a new method to tackle the problem of discontinuous curvature observed in the time-optimal Dubins trajectories of car-like robots. The discontinuous curvature profile renders the paths untraceable by a real robot due to the existence of infinite accelerations at the transition points. To make way for a continuous curvature profile, we relax the idealized nonholonomic constraint...
This paper addresses the problem of motion planning through waypoints for the skid-steering mobile platform Rex. Proposed method is easily applicable to other robotics systems whose dynamic are represented by a control affine system with outputs. It is assumed that the waypoints are provided in the form of a sequence of points and velocities in the taskspace. The motion planning problem consists in...
Continuously Variable Transmissions have the potential to change robotics. When used in a drive train in combination with a spring, they could significantly reduce energy consumption. However, so far these advantages have been shown in theory only. To exploit the concept of a Continuously Variable transmission to its full potential it should have certain properties and be designed with some critical...
Knowledge of Rotational Kinetic Energy (RKE) is always difficult for students to understand using traditional teaching methods. In this study, we designed an inquiry-based activity in which students can explore influence factors of RKE with a car built by LEGO, according to the scaffolds provided on the activity sheet. Then an experiment of the activity was carried out in a high school in Beijing...
For a robot that works in a dynamic environment, the ability to autonomously cope with the changes in the environment, is important. In this paper, we propose an approach to predict the changes of the state and action of the robot. Further, to extend this approach, we will attempt to apply the action to be taken in the future, to the current action. This method predicts the robot state and action...
The modular robot is constructed by the same shape and function module. It is able to transform and exchange, because it is multiple constitution. However, a mass quantity production of the module is difficult. Then, we focus on 3D printer. It is able to produce on a large scale easily and reasonably, but researchers and engineers need to operate 3D CAD and 3D printer. In this paper, we hold the 3D-CAD...
An automobile based on virtual path algorithm has been presented in this paper. The paper is useful in designing a vehicle which moves from one point to another with minimum human intervention. To achieve this, virtual path concept is used. To design a virtual path, a set of co-ordinates required to reach destination from origin is calculated. Based on these co-ordinates the automobile takes its own...
Assistive Robotics(AR) is a rapidly expanding field, implementing advanced intelligent machines capable of working collaboratively with a range of human users; as assistants, tools and as companions. These AR devices can provide assistance to stretched carers when transferring non-ambulatory patients safely. This paper presents the preliminary outcomes of the design, development and implementation...
Precision agriculture (PA) is nowadays one of the main strategies to fulfill the increasing food demand in the world. PA was defined as the set of technologies and procedures employed to optimize the agriculture production system. This article evaluate three types of rovers to be applied in precision agriculture, they are type Shrimp, Crab and Rocker Bogie. These rovers are modeled and simulated using...
Cable-driven parallel robots allow for fast motions and huge workspaces, using relatively lightweight moving masses and low-power actuation. This kind of structure yields usually very cost-effective solutions. However, the wider the workspace, the lower the equivalent stiffness of the end-effector yielding inaccuracies due mainly to unwanted vibrations. In this paper, we propose a new approach to...
In HRI, many researches emphasize the impact of the human user's personality (expressed mainly through the Extroversion dimension) over the perception of the robot's behavior. In our experiment, where participants interacted/used a novel driving assistance system, we focused on analyzing the role of each BigFive Personality dimension in people's task performance and in their reaction towards the vocal...
This paper reports a development of an experimental robot for children. The work is one of the activities in our educational project with the undergraduate students. The experimental robot shows various mechanical phenomena and basic structure of robots to children. Through this development, students have learned design methods for mechanical systems, communication skills with different agers and...
The track stand motion for the bicycle robot with front-wheel drive under 90 degrees front-bar turning angle is analyzed in this paper. A kind of dynamic model is proposed based on Appell Equation. To achieve the goal of track stand motion control, the controller is designed based on RBF neural network and adaptive sliding mode control algorithm. And the computer simulation is carried out based on...
A new transmission profile named cycloid-like profile is presented in this paper. The reducer with cycloidlike profiles has a character of pin wheels pure rolling, which can gain a high transmission efficiency. The design process with two conditions of pin wheel pure rolling are described in details and the comparison between cycloid-like and cycloid profiles are taken. At last, prototype experiment...
This paper focus on dynamic modeling and a kind of controller for the variable structure bicycle robot's (which called VSBR) track-stand motion when its front wheel is fixed at 45 degrees about its front fork. Firstly, making dynamic analysis for the VSBR whose front wheel is fixed at arbitrary degrees about its front fork. The roll angle, yaw angle, the angle front fork rotated and the angle front...
Corrosion can cause section loss or cracks in the steel members which is one of the most important causes of deterioration of steel bridges. For some critical components of a steel bridge, it is fatal and could even cause the collapse of the whole bridge. Nowadays the most common approach to steel bridge inspection is visual inspection by inspectors with inspection trucks. This paper mainly presents...
Unmanned rescue, observation and/or research vehicles with high terrain adaptability, fast velocity and high reliability to reach difficult rough terrain locations are still demanded, but most vehicles increase rough terrain adapt ability at the expense of low velocity and/or complex mechanisms. We propose a novel vehicle consisting of a very simple blade-type crawler and active antennas with rollers,...
This article aims to apply the concepts associated with artificial neural networks (ANN) in the control of an autonomous robot system that is intended to be used in competitions of robots. The robot was tested in several arbitrary paths in order to verify its effectiveness. The results show that the robot performed the tasks with success. Moreover, in the case of arbitrary paths the ANN control outperforms...
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