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This paper presents a prototype design and system analysis of a novel biomimetic eyeball-like robot (BEBOT) with mechanism implementing the process of accommodation. The mechanism proposed is inspired by the evidence of anatomy results of human eyeball, which has the ability to percept visual information of target object from far to near distance clearly. BEBOT implements this function by bio-inspired...
A shape-shifting robot, which named “AMOEBA-I”, has diverse configurations. The accessibility of the robot can be reinforced in the narrow space by changing the configurations. In this paper, a path planning method is presented corresponding to the unique reconfigurable ability of the robot. This method can automatically adjust the computational cost according to the distribution of obstacles in robot's...
In this paper, we present a four-layered representing architecture for the configurations of a link-type reconfigurable mobile robot. Decimal numbers are used to represent all these possibilities in joint space. Binary codes are introduced to represent the links with consideration of adjacent interventions. To find out all the mobile configurations completely and accurately, configuration matrices...
The complex environment requires mobile robots to possess high capability of obstacle negotiation. Cooperative negotiation is proposed to endow the AMOEBA-I robot with capability of obstacle negotiation and to reinforce the adaptability of the robot in unstructured environment. A mathematical model is established. The relationship between the height that the robot can overcome and angle with gravity...
A roboticized rock abrasion tool is considered to replace the geologistpsilas rock hammer to remove dusty and weathered surfaces of the rock. A roboticicized rock abrasion tool with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs (rotation motor and revolution motor) and two outputs (grinding wheel and...
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