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Two robots collaboratively search a street area. At an abstract level, this is the well-known two-guard street walk problem. Variations of the problem, i.e., general walk, straight walk, counter walk, straight counter walk, have been studied. In this work, deepening our previous work on simple characterizations of walkable streets, we consider the generation of optimal walk schedules by two robots.
In this paper, a methodology for gait rehabilitation, combines over-ground walking, body weight support, pelvic control, and gait assistance are introduced and the integrated platform has been developed. This paper also discusses the gap of state-of-the-art research in gait rehabilitation. Systems like Lokomat and Kineassist were studied and discussed. Initial testing and EMG experiments have been...
The bipedal humanoid robot WABIAN-2R is developed to simulate human locomotion. Performing a walking motion requires a high torque at the ankle joint. WABIAN-2R consists of harmonic gears in its driveline system which increases the weight of each leg and respectively decreases the energy economy. Therefore, a new idea is proposed and developed in this paper through computer simulation to modify the...
This paper presents the issues encountered in the development of a robot based on the biometric influence of a bear. One of the main aims of this research was to explore the possibilities of a robot, which could move between the different styles of motion. The bear offers a unique example of an animal with high mass and bulk, which can move between being a quadruped and a biped. Our earlier research...
There are many commercially available robots that display biomimetic influences. Sony's Aibo and DasaRobot's Genibo are two examples where robot dog designs have drawn from nature. Aldebaran's Nao and Hanson Robotics' Zeno are examples of humanoids robots that have drawn influences from the human body. This paper presents the design of an autonomous 21 degree of freedom (DOF) robot bear, named HyKim...
Biologically inspired techniques have been widely investigated for realizing adaptive searching behaviour in a mobile robot. In this paper, we propose a framework based on ldquoYuragirdquo, a Japanese word for biological fluctuation. Yuragi-based framework is simple, has a noise-utilizing novelty to keep the robot searching for the goal, while its basic expression enables the robot to switch elegantly...
This study deals with a guide robot for blind people. User inputs (i.e., commands for movements) are obtained from blind people through a joystick, which has two potentiometers. Some noise unintentionally caused by the user is included in this input. To reject the unwanted signal, the robot has to recognize the intention of the user even with these noises. In order to make the robot follow the intention,...
The humanoid bipedal robot WABIAN-2R was developed to be used as human motion simulator. It is able to perform similar human-like walking motion. Moreover, the robot is able to perform walking motions with a walking support device. This walking device was moving passively helping the robot to move easily. However, to go further with this development, we have to test the robot using the walking device...
In this paper, a real-time walking trajectory generation method at constant body height in a single support phase for three-dimensional biped robots is proposed. An analytic solution of a body trajectory was obtained from a ZMP (zero-moment point) equation of a body and a swing leg trajectory. Real-time body trajectory is generated based on an analytic solution. This body trajectory is applied, the...
This paper presents a new taxonomy for wall climbing robots, among which 1-NP and NPT methods with continuous and rapid locomotion are studied emphatically. It analyses in depth operating principles of fluid machineries that the two methods use, and points out the two's difference in structure as well as merits and drawbacks in performance. Then it builds dynamic models for elements in 1-NP method's...
In this work we describe an innovative proprioceptive control architecture for our hybrid legged-wheeled robot ASGUARD. This robot is able to cope with a variety of stairs, very rough terrain, and is able to move with the speed of two body-lengths per second on flat ground. An additional proprioceptive inclination feedback is used to make the same controller more robust in terms of stair-climbing...
In previous researches, most of biped robots have walked with their knees bent. However, a human walks without bending his or her knees, which defines ldquonaturalrdquo gaits. This is one of the significant differences between human locomotion and biped robot locomotion. This paper proposes a method to generate natural locomotion trajectory without bending knees but based on using a 2-DOF model of...
This paper suggests the new approach for reducing energy consumption during the walking cycle of the biped robot. After the stable walking trajectory is manually designed, the trajectory can be modified to reduce the energy consumption and increase walking stability based on the measured angular velocities of the robot during the walk combined with the dexterity information from the manipulability...
In many fields employing robots, e.g., wheelchair robots, rescue robots, and construction robots, robots that can move on rough terrains are desired. A robot with a simple mechanism and high mobility for all terrains is discussed in this paper. A four-wheel-type mobile robot is developed, and its design is discussed from a functional viewpoint. Its fundamental capability of moving on rough terrains...
This paper presents a bio-inspired concept for an autonomous centimeter-scale robot for locomotion on un-even terrains with bionic legs. Our previous work, the jumping robot ldquoGRILLO Irdquo, is firstly introduced, as well as its limitations. For improving the performance of this prototype, we made biological observations on jumping insects by means of a high speed camera. It was found that the...
A stair recognition with laser range scanning for continuous stair climbing by limb mechanism ldquoASTERISKrdquo is proposed. In this research, laser range scanning is divided into rough scan for fast scanning, and precise scan for range scanning. We use 2D laser range finder attached with motor for 3D laser range scanning. As a result of the experiment, the robot could recognize a stair position...
This paper adopts a GZ-I module and based on the module constructed an ldquoHrdquo-shaped four-legged robot. Inspired from the way of animals, in this paper the locomotion is generated and controlled by a central pattern generator (CPG), and so that the robot movement is digitally controlled. The four-legged robot has the pose and locomotion of standing, crawling, turning, and lateral crawling. Furthermore,...
This paper presents the development of a mesoscale self-contained quadruped mobile robot that employs two pieces of piezocomposite actuators for the bounding locomotion. The design of the robot leg is inspired by legged insects and animals, and the biomimetic concept is implemented in the robot in a simplified form, such that each leg of the robot has only one degree of freedom. The lack of degree...
Recent technological advances made necessary the use of the robots in various types of applications. Currently, the traditional robot-like scenarios dedicated to industrial applications with repetitive tasks, were replaced by applications which require human interaction. The main field of such applications concerns the rehabilitation and aid of elderly persons. In this study, we present a state-of-the-art...
Modules have been widely used in development of various robots including re-configurable robots and snake-like robots. To build robotic systems more flexibly and quickly with low costs of manufacturing and maintenance, we have developed two basic types, which are called T-type and I-type, of robotic joint modules with one degree of freedom for general purpose. The modules are designed to be compact,...
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