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The inverse kinematics (IK) problem is a fundamental problem in robotic manipulation. Traditional, Jacobian-based solutions to this problem are known to scale poorly with the number of degrees of freedom (DOF) in the manipulator, necessitating novel IK solutions for high-DOF manipulators. Metaheuristic optimization algorithms such as Particle Swarm Optimization (PSO) are a promising alternative approach...
Recent advances in the rapidly growing field of soft robotics have shown that robots made from soft materials surpass traditional rigid-link and continuum robots in performance in terms of adaptability and flexibility. Owing to their structure-inherent compliance, soft robots are also credited with being able to bridge the gap between humans and autonomous machines. However, for soft robots to become...
Ant Colony Optimization (ACO) algorithm has been applied to solve the path planning problem of mobile robot in complex environments. The algorithm parameters have been analysed and tuned for different working areas with obstacles in different number, sizes and shapes. Also, the performance of ACO algorithm was tested for different resolutions of working area representations. In all cases, it was possible...
This paper introduces the basic Rapidly-Exploring Random Tree (RRT) and its basic modification Rapidly-Exploring Random Tree star (RRT*), which is not only the extension of RRT, but also a widely applied algorithm because of the properties of asymptotically optimal path regardless of any obstacles, whereas the limitation to achieve optimal path has a slow convergence rate. As a result, it costs too...
Path planning plays an important role in autonomous mobile robot. A lot of methods have been proposed in several decades. However, the complex environment in the real world becomes more challenging for robots. This paper conducts an experiment on evaluating path planning methods under different scenes. Four basic space configurations corresponding to specific indoor scenes are proposed. At the same...
The reconfigurable spherical robot called “RSR” is a transformable robot that store its three legs in the spherical shell. The RSR II is an ongoing work developed at King Mongkut's University of Technology North Bangkok. At deployment, the robot can be transformed into a mobile form of dual interconnected hemispheres. Two legs are kept on one side of the hemisphere and one leg is on the other. Each...
In this era, Simulation has been recognized as an important research and a powerful tool supporting the design, planning, analysis and decisions in different areas of research and development because of the lowering computers' costs. Matlab and CATIA software, were used to construct the robot manipulator parametric to model and simulate in 3D space, to determine the end effector position on the trajectory...
Feedrate reduction or high jerk on discontinuous tool path transitions can be avoided by fitting blending curves. In this paper, a real-time capable concept based on Clothoids to smoothen discontinuous transitions is introduced. As opposed to current interpolation methods, the curvature profile of the emerging blending curves is controllable, which can reduce the jerk.
The paper describes conceptual design, control strategies and full simulation for a new fully autonomous lower limb exoskeleton system for human motion enhancement. The exoskeleton supports the subject weight and provides an additional strength and endurance to the subject. The designed exoskeleton is able to decouple the weight/mass carrying function of the system from its forward motion function...
Kinesthetic teaching provides an accessible way for non-experts to quickly and easily program a robot system by demonstration. A crucial aspect of this technique is to obtain an accurate approximation of the robot's intended trajectory for the task, while filtering out spurious aspects of the demonstration. While several methods to this end have been proposed, they either rely on several demonstrations...
A key problem in modular and self-reconfigurable robot power sharing research is that of estimating the globally maximal operation time (MOT) of a system of connected modules that share power with one another, as this information is vital to determining resource allocation in power sharing schemes. Existing MOT estimation algorithms do not consider the effect that output current constraints at each...
We present a robot emotion representation model by investigating the role of human-inspired social effects and memory retrieval process. Social referencing and social sharing are modeled as human guides to share knowledge and direct or influence robot emotion generation. The robot's acquired knowledge is consolidated into a developmental memory architecture and used for future retrieval. This model...
The steering performances of the frog skating robot are studied by the equivalent swing arm method. Firstly, the influent factors of the steering radius of the frog skating robot are obtained directly by analyzing the intersection points of the axes among the front and passive wheels, and the research problem is put forward. Further, because of the motion characteristics of the frog skating robot...
Design and Development of an Android (A robot with human resemblance and behaviour) is complex which requires high level of dexterity and cognitive capability. In the present work, we propose a low cost minimalist mechanical design of an android robot called ARIA (Advanced Robot for Interactive Applications) which has 12 Degrees of Freedom (DoF). ARIA is capable of expressing various emotions such...
New proposals for prosthetic hands fabricated by means of 3D printing are either body-powered for partial hand amputees or myoelectric powered prostheses for transradial amputees. There are no current studies to develop powered 3D printed prostheses for transmetacarpal, probably because at this level of amputation there is little space to fit actuators and their associated electronics. In this work,...
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