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In this paper we describe a novel and simple to implement yet effective lattice design algorithm, which simultaneously produces input and state-space sampled lattice graphs. The presented method is an extension to the ideas suggested by Bicchi et al. on input lattices and is applicable to systems which can be brought into (2,n) chained form, such as kinematic models of unicycles, bicycles, differential-drive...
In this paper, the characterization of the force distribution along a tendon sliding on a curved pathway, subject to friction and visco-elastic effects, is investigated. In order to have a better understanding of the system behavior, a specific setup able to measure tension forces in different points along the tendon's path has been built. Experimental data collected by measuring the tendon tension...
Continuum robots made from telescoping precurved elastic tubes enable base-mounted actuators to specify the curved shapes of robots as thin as standard surgical needles. While free space beam mechanics-based models of the shape of these `active cannulas' exist, current models cannot account for external forces and torques applied to the cannula by the environment. In this paper we apply geometrically...
We model the dynamics of non-linear point-to-point robot motions as a time-independent system described by an autonomous dynamical system (DS). We propose an iterative algorithm to estimate the form of the DS through a mixture of Gaussian distributions. We prove that the resulting model is asymptotically stable at the target. We validate the accuracy of the model on a library of 2D human motions and...
We explain when, and why, solder-based phase change materials (PCMs) are best-suited as a means to modify a robotic mechanism's kinematic and elastomechanic behavior. The preceding refers to mechanisms that possess joints which may be thermally locked and unlocked via a material phase change within the joint. Different combinations of locked and unlocked joints can yield several one-DOF mechanisms...
Generally, the cables of a parallel cable-driven robot are considered to be massless and inextensible. These two characteristics cannot be neglected anymore for large dimension mechanisms in order to obtain good positioning accuracy. A well-known model which describes the profile of a cable under the action of its own weight allows us to take mass and elasticity into account. When designing a robot,...
Model-based control methods can be used to enable fast, dexterous, and compliant motion of robots without sacrificing control accuracy. However, implementing such techniques on floating base robots, e.g., humanoids and legged systems, is non-trivial due to under-actuation, dynamically changing constraints from the environment, and potentially closed loop kinematics. In this paper, we show how to compute...
This paper introduces a simple algorithm for non-prehensile object transportation by a pushing robot on a flat surface. We assume that the global position and orientation of the robot and objects are known. The system computes a dipole field around the object and moves the robot along the field. This simple algorithm resolves many subtle issues in implementing reliable pushing behaviors, such as collision...
One of the key steps in high-speed control of a parallel robot is to define an efficient dynamic model. It is usually not easy to have such a model for parallel robots, since many of them have complex structures. Here, we propose a vector-based approach, which employs the robot leg orientations, to obtain a simplified inverse dynamic model. At the least, this vector-based methodology is pioneering,...
For path planning algorithms of robots it is important that the robot does not reach a state of inevitable collision. In crowded environments with many humans or robots, the set of possible inevitable collision states (ICS) is often unacceptably high, such that the robot has to stop and wait in too many situations. For this reason, the concept of ICS is extended to probabilistic collision states (PCS),...
The design of a robotic exoskeleton often focuses on replicating the kinematics of the human limb that it is connected to. However, human joint kinematics is so complex that in practice, the kinematics of artificial exoskeletons fails to reproduce it exactly. This discrepancy results in hyperstaticity. Namely, uncontrolled interaction forces appear. In this paper, we investigate the problem of connecting...
This digital divide case is sponsored by UNESCO and Brazilian Education Ministry as a pilot-project science and technology democratization initiative named RoboEdu. The main role is to allow that high school students can be the first technologies contacts using computers and robotics experiments due them low profile families remuneration. The initiative uses education interactions as main engine to...
The Multi-Agent System technology focuses mainly on four topics: cooperation and coordination, organization, communication, and negotiation of a set of intelligent software agents. Applying these techniques to a flock of robots is difficult due to restricted computational resources of the robots. Moreover, if the robots are mobile, the communication is wireless, and there are competing groups, then...
An information-presenting robot is expected to establish an appropriate spatial relationship with people. Drawing upon sociological studies of spatial relationships involving ??F-formation?? and ??body torque,?? we examined the effect of a robot rotating its body on the reconfiguration of the F-formation arrangement. The results showed that a robot can change the position of a visitor by rotating...
A haptic system for hand rehabilitation is presented that combines robotics and interactive virtual reality to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two...
We experimentally investigated users' reactions toward an on-screen agent appearing on three different types of media: a 42-inch television, 17-inch display, and 4.5-inch mobile PC. Specifically, we observed whether the users accepted the agent's invitation to a Shiritori game while they were engaged in given tasks. The results showed that most participants who received the invitation from the on-screen...
Aiming at the problem of the field of robotics soccer system and the identification of robotics soccer, based on the seed point, this paper puts forward a method of field distortion correction, analyses the characteristic of different color tag design approaches, constructs a new color tag approach and its identification algorithm, rapid calibrating field and identifying robotics soccer are realized...
In this paper new method of path planning for autonomous underwater vehicle (AUV) in large-scale underwater environment is presented. The main idea behind this method is to make full use of the local real-time environment information, partition global working environment dynamically and optimize each local area using Fast Marching algorithm (FM), finally generate a global quasi-optimal path from start...
The principles and structure of a new economical pulse-type servo drive system were presented. One part is main control board for servo motor with incremental encoder, which receive pulse position command form upper controller. With the scholastic calculation in main control part of servo drive, and the dead time of PWM signals was compensated by hardware circuit, this drive system has a high performance...
A recent study on standards usage within selected publications of the IEEE Industrial Electronics Society examined standards activities and it showed much standards activity in all technology sectors of IES but robotics. This unusual observation led to this investigation on robotics for further investigation. Indeed, robotics does require standards making it a suitable area for technology focus in...
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