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In this paper, we present the mechanical design of a compact magnetic wheeled robot - with the goal to do inspection and vibration measurements in the housings of large generators and similar environments in power plants. After a detailed analysis of the specifications in this application, we present a new vehicle structure that allows for passing sharp concave corners - even with low friction coefficient...
This paper presents mechanism and control of a four-wheel-drive (4WD) robotic platform for wheelchairs. The 4WD mechanism equips four wheels, two omni-wheels in front and two normal tires in rear. The normal wheel and the omni-wheel, mounted on the same side of the base, are interconnected by a synchro-drive transmission to rotate in unison with a drive motor. To control chair orientation on the 4WD...
The objective of this study is to suggest a design guideline to build a personality for an entertainment robot, ROLLY based on basic factors of motions and their interrelations. Independent variables were the direction at two levels, the speed, the volume, and repetition at three levels as the basic factors of a motion. Dependent variables were dominance and friendliness as personality factors. Eighteen...
Flexible endoscopes have been recently used for new surgical procedures called NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery. However, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscopes possibilities and workspace, several solutions have been proposed to redesign the whole endoscopic...
This paper presents the PAS-Arm (Passive ASsist Arm), a novel assist arm based on passive robotics. PAS-Arms are intended for direct physical interaction with a human operator. PAS-Arms are physically passive. Their purpose is not to enhance human strength but to produce specified but arbitrary two-dimensional guiding surfaces that constrain and guide the motion of the human operator. PAS-Arms have...
This paper presents compound obstacle-navigating mechanism and expounds its navigating principle which meets the need for line inspection robot to navigate tower accessories. It proposes novel pitch balance mechanism and yaw balance mechanism according to the variation of suspending state and centre of mass when the robot navigating obstacles. It verifies the validity and feasibility of the mechanism...
This paper presents inverted pendulum with moving reference for the testing of stabilizing control algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. The motion of the two masses, that slide along the horizontal plane, is controllable for the purpose of platform stabilization. The usefulness of the idea presented is demonstrated using computer simulations...
Various solutions have been proposed for controlling the motion of mobile robots. They are generally classified into two categories: global or explicit planning and local or implicit planning. The local solutions are mainly used in unknown environments and are completely based on information provided by sensors. This paper presents a solution for controlling the motion of a mobile robot through sensors...
This paper presents a new design of augmented extended Kalman filter (AEKF) based on the dynamic model for real-time simulation of mobile robots. The dynamic model is composed of two consecutive parts; kinematic model and equations of linear and angular torques. A Simulinkreg model is developed for simultaneous localization and odometry calibration of mobile robots in real time manner. Assuming an...
We present a novel approach to controlling the locomotion of a wheel by changing its shape, leading to applications to the synthesis and closed-loop control of gaits for modular robots. A dynamic model of a planar, continuous deformable ellipse in contact with a ground surface is derived. We present two alternative approaches to controlling this system and a method for mapping the gaits to a discrete...
Research on humanoid robots for use in servicing tasks, e.g. fetching and delivery, attracts steadily more interest. With Rollin' Justin a mobile robotic system and research platform is presented that allows the implementation and demonstration of sophisticated control algorithms and dexterous manipulation. Important problems of service robotics such as mobile manipulation and strategies for using...
In this paper, the kinematics, workspace, statics, dynamics of a parallel robot with three translational degrees of freedom for steel snagging are introduced. The parallel robot consists of three tracks referred to as the base platform, a movable platform, two connecting legs and a translational-motion mechanism referred to as the third leg. Its kinematics equation as well as and the Jacobian matrix...
An adaptable stiffness of mechanical using wire rope tension control, called as a twin direct-drive motor system, has unique advantages in human-robot interaction system, when compared with conventional industrial robot. Since the wire rope is low friction and lightweight device, it is possible to achieve high-efficiency, high degree of reliability, and safety. In this paper, modeling and closed-loop...
This paper gives the fuzzy velocity control of a mobile robot motion in an unknown environment with slopes and obstacles. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. When the vehicle is moving towards the target and the sensors detect an obstacle or slopes, an avoiding strategy and velocity control are necessary. We proposed...
Various static and dynamic stability criteria have been defined in many researches. To estimate these stability margins, many sensors are required. Therefore, implementation on a real vehicle is an important factor for stability margins. In this paper, a modified dynamic energy stability margin measured with only a few sensors is suggested to facilitate implementation. The performance of the modified...
This paper presents a novel design for an articulated leg for mobile robots. The key idea is to develop the mechanism with a synthesis process directed to make the walking operation in an easy-control manner. To achieve this, the synthesis process has been done to decouple vertical and horizontal movement of the leg. Other advantage of this scheme is that driving motors can be better chosen for each...
This paper introduces a novel mobile robot design concept aimed at exploration of subterranean spaces. The key innovation is the combination of highly maneuverable-body elements with wheel/leg elements (ldquowhegsrdquo). This combination offers performance not possible with conventional ldquomonolithicrdquo wheeled or tracked mobile robots, or with current robot snakes. The paper covers two design...
Lunar or planetary exploration missions including landers and rovers are earnestly under studying in Japan. One of main missions for lunar robotics exploration is to demonstrate the technologies for lunar or planetary surface exploration. They will cover landing technology and surface exploration rover technology. Lunar geologic survey will be also performed for utilization and scientific investigation...
Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each...
The non-destructive inspection of generator stators is a repetitive and cost-intensive task. For some types with very small entrance gaps (around 9 mm height), it was even necessary to always remove the rotor. This paper describes the design and prototype implementation of a new robotic crawler which is only 8 mm high and thus can inspect all types of generators with the rotor installed. Different...
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