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The growth of 3D visualization devices, such as holograms and virtual reality, is followed by the increase of demand for 3D models. One cheap and straightforward way of creating them is by photogrammetry. However, taking the necessary photographs is tedious and imprecise, because many different shooting angles and heights are required. Also, there may be need of doing models of objects placed on hazardous...
The use of Multi-Robot Systems presents several advantages like increased robustness and, in most cases, time reduction to accomplish a task. In this context, Robotic Swarms is generally related to very large groups of robots. The congestion problem within the mobile robotics field is a well-known field of research. The problem occurs when a large number of autonomous robots tries to reach a common...
A new manipulation strategy has been proposed to grasp various objects stably using a dual-arm robotic system in the ROS environment. The grasping pose of the dual-arm has been determined depending upon the shape of the objects which is identified by the pan/tilt camera. For the stable grasping of the object, an operability index of the dual-arm robot (OPIND) has been defined by using the current...
Due to the great performance in complex and narrow spaces, snake-like robots, especially snake arm robots, have gained increasing attention in recent years. In this paper, a novel cable-driven snake arm robot is proposed. For greater flexibility, the snake arm not only has multiple two-degree-of-freedom joints, but also has telescopic modules that have one degree of freedom. The kinematics and statics...
Collision avoidance subject to operator's intention is needed for power-assisted omni-directional mobile robots. In order to realize collision avoidance on operator's initiative, the system which makes the operator notice the existence of an obstacle is necessary. In this paper, existence of the obstacle is notified through a change in operation feeling by adjusting viscosity coefficients of the power-assist...
A robot with two independent driving wheels is used popularly as a service robot. Therefore, there is a lot of research on the autonomous locomotion. The robot with two independent driving wheels has a nonholonomic constraint in its model, so that it needs a specific control method when controlling it. In this research, we use an invariant manifold for solving such a nonholonomic constraint. The controller...
Elderly people have some problems about their decrease in lower limb function. So, there is a possibility of falling and causing serious injury when standing or sitting. The purpose of this research is to construct a system that enables elderly people to receive safe and high quality rehabilitation. At the first, analysis of trajectory of standing and sitting motion is performed. Thanks to the analysis,...
The problem of a component of stability of a communication network — survivability which is understood as maintenance of demanded level of an information exchange in grouping of the robots forming an aeromobile communication network, in the conditions of destroying influences is designated. In this case probably full collapse of a network, not only because of the conflict, but also as a result of...
According to China's space station operation and maintenance requirements, this paper first discusses the dual arm robot astronaut mission requirements and design principles. Then the robot's configuration, anthropomorphic robot arm and its driving joint, five fingered dexterous hand, head, neck and other mechanisms are designed in detail. A distributed control scheme for the robot is proposed. The...
Intelligent Wheelchair Bed (IWB) is an important direction. And it is also one of the most active research direction in the robot field. In this work, the obstacle avoidance algorithm based on the Artificial Potential Field (APF) using ultrasonic sensors is proposed and realized in order to achieve the real-time and continuing obstacle avoidance for the IWB. The IWB can keep on detecting the environment...
This paper reports the motion control of a wall climbing robot. The robot has a pair of driving wheels and a coaxial propeller thruster. Two wheels are used for running on walls, and the thruster located on a gimbal mechanism is controlled corresponding to the orientation of the robot and the slope angle of the wall. The orientation control of the gimbal mechanism is newly proposed, and is experimentally...
This paper presents a method to teach a humanoid robot arm a new trajectory by using human-robot shared control. The robot trajectory is first taught by using the technique of programming by demonstration (PbD). If the environment changes for the learned trajectory, a user can intervene and modify the trajectory by using the proposed control method. We propose a method to modify part of the trajectory...
This study aims to design a locomotion controller with detecting and inhibiting side-slipping and to verify the validity of the proposed method in experiments. This report is written the model occur side slip on each link derive and the approach propose based on this Model. We have expressed the motion in case of side-slip occurs on each link, have controlled side-slip in simulation.
For human-centered automation, it is a given fact that human safety is completely ensured. In addition, both of the humans and robots must perform given tasks as efficiently as possible in terms of productivity. For this issue, human-robot interaction in multi-robot systems is a challenge. Therefore, this paper presents an interactive formation by multiple mobile robots for guiding humans. In the...
The motion generation on a downhill of the seed-like 4-DOF 1-input underactuated robot has been analyzed by the authors previously. However, it is difficult to generate a horizontal movement on level road surface. Before pursuing a speedy horizontal locomotion, the motion analysis of horizontal movement should be well investigated. This study attempts to analyze the horizontal movement induced by...
Leg/wheel robots has a hybrid movement mechanism which combines leg and wheel mechanism. In this paper, we propose a posture control for three-dimensional leg/wheel robots in which the distance between zero moment point and center of gravity are minimized using model predictive control. It is expected to prevent overturning of the robots based on prediction and considering zero moment point. The proposed...
This paper proposes a motion planning method to manipulate a grasped object by a two-fingered robot hand based on the nonholonomy of rolling contacts. A grasped rectangular object is regulated to a target configuration through regulating the contact coordinates between the fingers and object using the holonomy generated by closed paths on semi-spherical fingertips. The parameters of the closed paths...
Collective object manipulation is one of the frequently observed behaviors in natural swarm systems which inspired many researchers to study and implement such methods via robotic systems. Adding obstacle avoidance capability to the agents involved in the manipulation task creates a ground for parallel object manipulation and collective construction in cluttered environments. In this paper, the obstacle...
Active exercise can improve the rehabilitation efficacy of the paralyzed patients, while we need to consider its safety. Impedance control takes the active compliance into account, providing a safe and comfortable training environment for the patients. However, the traditional impedance control has poor robustness, so it is urgent to enhance the adaptive capability of the system. This paper proposes...
A new type of crawler-type magnetic adsorption wall-climbing robot for derusting of ships was designed. The three-dimensional model of the robot, the adsorption device and the cleaning device, were established by SOLIDWORKS, and the static force model was established according to the actual working condition. Then, two kinds of common overturning risks of the wall-climbing robot were analyzed and...
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