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Automatic car navigation systems have been used to guide humans or even automatically route them in roads with sufficient a security and correctness. Landmark based car navigation is a widely used technique for automotive and robot navigation. Wireless landmarks have some key features such as robustness and simple detection that make them suitable for automotive navigation. In this paper, a lightweight...
Balancing a normal pencil on its tip requires rapid feedback control with latencies on the order of milliseconds. This demonstration shows how a pair of spike-based silicon retina dynamic vision sensors (DVS) is used to provide fast visual feedback for controlling an actuated table to balance an ordinary pencil. Two DVSs view the pencil from right angles. Movements of the pencil cause spike address-events...
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...
The angular vestibulo-ocular and opto-kinetic reflexes (aVOR and OKR) combine to provide compensation for head rotations in space to help maintain a steady image on the retina. We previously implemented an artificial angular vestibulo-ocular reflex with a fully articulated binocular control system in a quadruped robot head. In this paper, we describe the implementation of artificial opto-kinetic and...
The design of an autonomous navigation system for mobile robots can be a tough task. Noisy sensors, unstructured environments and unpredictability are among the problems which must be overcome. Reservoir computing (RC) uses a randomly created recurrent neural network (the reservoir) which functions as a temporal kernel of rich dynamics that projects the input to a high dimensional space. This projection...
In this paper, we propose control system which supports unicycle operation for human's skill up. Therefore, the unicycle operation analysis method is proposed first, and it is shown usefulness by experiment. The element used for analysis are rider's CP (Center of Pressure) and MBP (Moment Balancing Point) which negates a saddle rotation moment. Using those elements, we propose evaluation method of...
Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object, stable and reliable biped walking is a very important achievement. Well designed foot plays a crucial role in stabilization control for a humanoid robot. In this paper, we present a flexible foot design for our humanoid robot, including a landing impact absorption mechanism and a foot attitude estimation...
The parallel two-wheeled robot is a natural instability body, like traditional inverted pendulum, so it is necessary to use very effective control means to make it stabilize. The study on parallel two-wheeled robot emphasizes on walking balance control technology. In the paper the system configuration and mathematic modelling of the prototype are described. According to linear system theory, the state-feedback...
In this paper a method for force estimation on inverted pendulum type balancing platforms is presented and examined. Inverted pendulum systems are sensitive to small external forces because they are being balanced about an unstable position of zero force. The perturbations that result from external forces cause noticeable changes to the system state variables and it is these changes that are used...
This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with limited onboard sensing and wireless communication ranges, to approach the desired sensory coverage over targeted environments while maintaining communication connections. A virtual potential energy is defined for each mobile robot according to the difference between the actual and...
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