Current Issue : October - December Volume : 2019 Issue Number : 4 Articles : 5 Articles
An octopus arm with a flexible structure and no rigid skeleton shows a high degree of\nfreedom and flexibility. These excellent features are suitable for working in an environment having\nfragile and unknown-shaped objects. Therefore, a soft robot arm resembling an octopus arm can be\nuseful as a harvesting machine without damaging crops in the agricultural field, as a rehabilitation\napparatus in the welfare field, as a safe surgery tool in the medical field, and so on. Unlike industrial\nrobots, to consider the applications of the soft robot arm, the instructions for it relating to a task\ncannot in many cases be given as a numerical value, and the motion according to an operatorâ??s sense\nand intent is useful. This paper describes the design and feedback control of a soft master-slave\nrobot system. The system is configured with two soft rubber machines; one is a slave machine that is\nthe soft robot arm mimicking the muscle arrangement of the octopus arm by pneumatic artificial\nmuscles, and the other is a master machine that gives the target motion to the slave machine. Both are\nconfigured with soft materials. The slave machine has an actuating part and a sensing part, it can\nperform bending and torsional motions, and these motions are estimated by the sensing part with\nthreads that connect to wire encoders. The master machine is almost the same configuration, but it has\nno actuating part. The slave machine is driven according to the deformation of the master machine.\nWe confirmed experimentally that the slave machine followed the master machine that was deformed\nby an operator....
The development of artificial intelligence technology has promoted the rapid\nimprovement of human-computer interaction. This system uses the Kinect\nvisual image sensor to identify human bone data and complete the recognition\nof the operatorâ??s movements. Through the filtering process of real-time\ndata by the host computer platform with computer software as the core, the\nalgorithm is programmed to realize the conversion from data to control signals.\nThe system transmits the signal to the lower computer platform with\nArduino as the core through the transmission mode of the serial communication,\nthereby completing the control of the steering gear. In order to verify\nthe feasibility of the theory, the team built a 4-DOF robotic arm control system\nand completed software development. It can display other functions such\nas the current bone angle and motion status in real time on the computer\noperation interface. The experimental data shows that the Kinect-based motion\nrecognition method can effectively complete the tracking of the expected\nmotion and complete the grasping and transfer of the specified objects, which\nhas extremely high operability....
Multilegged robots can adapt to complex terrains, an ability that is highly important for their research and development. To improve\nthe adaptability and fault tolerance of such robots, the modular design concept is applied by an increase in the number of modules.\nA modular multilegged robot contains a trunk with six modular leg structures that can be removed at will.The interface design of\nthe trunk and legs can achieve good tightness and high strength, thereby ensuring quick disassembly and that the trunk and legs\nwill not fall off while the robot walks. On this basis, the gait of a robot with different numbers of modular legs is designed. Then,\nkinematic and dynamic models of the robots with different gaits are established, and the motion performance, which provides\nreference for motion control and motor selection, is analyzed. Experiments show that the robot with different numbers of legs has\ngood motion performance. This study serves as a useful reference for the design of modular multilegged robots....
An easier method for the calibration of differential drive robots is presented. Most calibration is done on-board and it is not\nnecessary to spend too much time taking note of the robotâ??s position. The calibration method does not need a large free space\nto perform the tests. The bigger space is merely in a straight line, which is easy to find.The results with the method presented are\ncompared with those from UMB for reference, and they show very little deviation while the proposed calibration is much simpler....
Many mobile robotics applications, especially in industrial environments, require\nthe robot to perform safe navigation and then reach the goal with a high\nprecision. In this research work, the objective is to analyze the appropriateness\nof autonomous natural navigation strategies for mobile manipulation\ntasks. The system must position itself in a realistic map, follow a path closely\nand then achieve an accurate positioning in the destination point in order to\nbe able to perform the manipulation, inspection or pick task efficiently. Autonomous\nnavigation is not able to fulfill the accuracy required by some of\nthe jobs so that a second positioning system using vision is proposed in this\npaper. The experiments show that localization systems have, on average, an\nerror greater than a decimetre and how an additional positioning system can\nreduce it to a few millimetres....
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