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The University of Canterbury research team takes on the challenge to develop a wall climbing robot which automates tungsten inert gas (TIG) welding of stainless steel tanks. The robot, coded "TigBot" is designed to carry a 4kg payload including a welding torch, camera and associated hardware. The device is required to be steerable by an operator and move independently at variable, controlled...
Many researchers have been encouraged to investigate the design, posture and stability of biped robots in order to replicate the anthropoid gait. In this paper we develop a simple model of biped robot, which is based on the humanpsilas walking course and the humanpsilas physical structure. Then we have the research on the gait planning of biped robot, and we achieve the comparability between the biped...
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...
A new learning algorithm for advanced robot locomotion is described in this paper. This method involves both cellular neural networks (CNN) technology and evolutionary algorithms. Learning is formulated as an optimization problem. CNN templates are derived by genetic algorithms after an optimization process [1]. A template generates a specific wave on CNN that leads to the best motion of a walker...
The decomposition of the problem of existence and stability for fast periodic solutions of singularly perturbed nonlinear systems with the impact effects is considered. With this aim, theorem for existence and stability of fixed points for corresponding Poincare sections is proved. These results are applied for the decomposition of the control design problem for bipedal robots with heavy torsos.
Complex visual tasks may be tackled with remarkably simple neural architectures generated by a co-evolutionary process of active vision and feature selection. This hypothesis has recently been tested in several robotic applications such as shape discrimination, car driving, indoor/outdoor navigation of a wheeled robot. Here we describe an experiment where this hypothesis is further examined in goal-oriented...
Physically based animation of virtual characters is an attractive technology for computer games. It enables characters to dynamically react to interactions with the environment. Existing dynamic simulation controllers are often complex to understand and manipulate, and so are of limited use for animators. This paper presents an extended spline-based control strategy similar to splines used in standard...
Miniature mobile robots have the unique capability of accessing to small spaces and scales directly. Due to their small size and small scale physics and dynamics, they could be agile and portable, and could be inexpensive and in large numbers if they are mass produced. Different scale miniature robots with various locomotion capabilities are proposed in this study. Network or swarm of these miniature...
The applicative field of activities of robots who have only one locomotion strategy is limited. As means of enhancing the mobile range, it is necessary to have various locomotion modes. Therefore, we focus on dynamic transitions between several kinds of locomotion modes adapting to environmental changes. In this paper, we aim to realize stable locomotion along some unknown test courses consisting...
Biarticulate muscles have been shown to perform the function of power transfer from the upper to lower leg, such as in tasks such as running, jumping, and stair climbing. A new robotic model of the human leg is described. This robotic leg transfers power from motors on the hip to the ankle. The importance of timing in maximizing the force transfer to push off at the toe is explored.
Rhythmic motions of lower and upper limb prostheses for patients suffering from spinal cord injury (SCI) and amputees can be controlled and modulated using silicon neurons, designed in very large scale integration (VLSI) technology, that mimic pattern generation circuits found in the human spinal cord. Furthermore, synchronized patterns with arbitrarily phase delays, can easily be implemented using...
Many types of mobile humanoid robots combining both the characteristics of mobile robot and humanoid robot have been developed in the literatures in the past two decades. This paper is aimed at presenting a survey of robotic structures for the mobile humanoid robots. The most used ones are wheeled mobile humanoid robots with their salient features of the human-like upper body normally containing two...
A three-wheeled omni-directional cane robot is designed for aiding the elderly walking. A new human fall detection method is proposed based on fusing sensory information from a vision system and a laser ranger finder (LRF). This method plays an important role in the fall-prevention for the cane robot. The human fall model is represented in a 2D space, where the distance between the head and the average...
This paper proposes new walking pattern method for the humanoid robots. The proposed method based on the inverted pendulum uses the zero moment point(ZMP) and the center of mass(CoM). And our approach consists of feedforward controller and feedback controller. As the feedforward controller, pole-zero cancellation by series approximation(PZCSA) control plays a role of reducing the inherent property...
As a recent trend in humanoid robot research, running motion appears to be a very important issue since faster and faster mobility is required. Being an essential fact, jumping phenomenon seems to be the previous step of succeeding running motion as jumping dynamics play the key role to achieve stable running motion cycles. Therefore, in this paper, authors group sought a method to generate real-time...
In this paper, we proposed a method to estimate the destination of walking persons from their walking patterns, for avoidance of collision accidents between pedestrians and robots in a human-robot coexistence environment. We adopted the hidden Markov model (HMM) as a model to represent walking patterns. We constructed a model for each movement pattern. A movement pattern was defined with a departure...
For disaster mitigation as well as for urban search and rescue (USAR) missions, it is often necessary to place sensors or cameras into dangerous or inaccessible areas to get a better situation awareness for the rescue personnel, before they enter a possibly dangerous area. Robots are predestined to this task, but the requirements for such mobile systems are demanding. They should be quick and agile...
Holonomic behavior is desirable in the tight confines of a rubbled, collapsed-structure environment. But arbitrary motion is difficult to achieve, mechanically, particularly since treads are the most common form of locomotive device in search and rescue robots. We are developing a reconfigurable suite of locomotive modules that permit side-slipping locomotion. Initially designed as add-on modules...
In order to enhance the accessibility to the disaster site from safe places and aiming a fast inspection of the area, the authors have proposed a locomotion method consisted of a robot throwing one of its parts into the site, and this thrown part (child machine) performs the inspection by rolling and jumping locomotion. To realize this method, the selected main actuator is the pneumatic cylinder,...
This paper describes the concept, specifications and design of the biologically inspired quadruped robot HyQ, with special focus on the leg design. The main scope of this new robotic platform is to study highly dynamic tasks such as running and jumping. To meet the specifications in terms of performance and dimensions, hydraulic actuation has been chosen due to its high power to weight ratio and fast...
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