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Robotics and Biomimetics

Jinke Li, Xinyu Wu, Tiantian Xu, Huiwen Guo, Jianquan Sun, Qingshi Gao
Nuclear energy is one of the most important clean energy on earth presently. The steam generator secondary side is the key device of nuclear power station. As an important branch of special robot, nuclear robot is the most convenient and effective mean to inspect the steam generator. This paper describes one robot system which could help users inspecting tubes and locating the robot inside the steam generator. The main part of this system is a climbing robot which can move inside the steam generator carrying a PT or telescopic arm...
2017: Robotics and Biomimetics
Hong Fu, Haokun Yang, Weishu Song, Wenzeng Zhang
This paper proposes a novel cluster-tube self-adaptive robot hand (CTSA Hand). The CTSA Hand consists of a base, a motor, a transmission mechanism, multiple elastic tendons, and a group of sliding-tube assemblies. Each sliding-tube assembly is composed of a sliding tube, a guide rod, two springs and a hinge. When the hand grasping an object, the object pushes some sliding tubes to different positions according to the surface shape of the object, the motor pulls the tendons tight to cluster tubes. The CTSA Hand can realize self-adaptive grasping of objects of different sizes and shapes...
2017: Robotics and Biomimetics
Zheng Chen
A novel actuating material, which is lightweight, soft, and capable of generating large flapping motion under electrical stimuli, is highly desirable to build energy-efficient and maneuverable bio-inspired underwater robots. Ionic polymer-metal composites are important category of electroactive polymers, since they can generate large bending motions under low actuation voltages. IPMCs are ideal artificial muscles for small-scale and bio-inspired robots. This paper takes a system perspective to review the recent work on IPMC-enabled underwater robots, from modeling, fabrication, and bio-inspired design perspectives...
2017: Robotics and Biomimetics
Peng Zhang, Bingbing Bao, Meng Wang
The vibration of robot joint reducer is the main factor that causes vibration or motion error of robot system. To improve the dynamic precision of robot system, the cycloid ball transmission used in robot joint is selected as study object in this paper. An efficient dynamic modelling method is presented-lumped stiffness method. Based on lumped stiffness method, a translational-torsional coupling dynamics model of cycloid ball transmission system is established. Mesh stiffness variation excitation, damping of system are all intrinsically considered in the model...
2017: Robotics and Biomimetics
Victor Parque, Satoshi Miura, Tomoyuki Miyashita
Route bundling implies compounding multiple routes in a way that anchoring points at intermediate locations minimize a global distance metric to obtain a tree-like structure where the roots of the tree (anchoring points) serve as coordinating locus for the joint transport of information, goods and people. Route bundling is a relevant conceptual construct in a number of path-planning scenarios where the resources and means of transport are scarce/expensive, or where the environments are inherently hard to navigate due to limited space...
2017: Robotics and Biomimetics
Yi Xiao, You-Fu Li
Shadow and background are two common factors in digital fringe projection, which lead to ambiguity in three-dimensional measurement and thereby need to be seriously considered. Preprocessing is often needed to segment the object from invalid points. The existing segmentation approaches based on modulation normally perform well in pure dark background circumstances, which, however, lose accuracy in situations of white or complex background. In this paper, an accurate shadow and background removal technique is proposed, which segments the shadow by one threshold from modulation histogram and segments the background by the threshold in intensity histogram...
2017: Robotics and Biomimetics
Qianqian Wang, Lidong Yang, Jiangfan Yu, Li Zhang
Particle-based magnetically actuated microswimmers have the potential to act as microrobotic tools for biomedical applications. In this paper, we report the dynamic behaviors of a three-particle paramagnetic microswimmer. Actuated by a rotating magnetic field with different frequencies, the microswimmer exhibits simple rotation and propulsion. When the input frequency is below 8 Hz, it exhibits simple rotation on the substrate, whereas it shows propulsion with varied poses when subjected to a frequency between 8 and 15 Hz...
2017: Robotics and Biomimetics
Nazanin Mansouri, Khaled Goher, Seyed Ebrahim Hosseini
The population of ageing is growing significantly over the world, and there is an emerging demand for better healthcare services and more care centres. Innovations of Information and Communication Technology has resulted in development of various types of assistive robots to fulfil elderly's needs and independency, whilst carrying out daily routine tasks. This makes it vital to have a clear understanding of elderly's needs and expectations from assistive robots. This paper addresses current ethical issues to understand elderly's prime needs...
2017: Robotics and Biomimetics
Bo Sun, Xingjian Jing
For track-based robots, an important aspect is the suppression design, which determines the trafficability and comfort of the whole system. The trafficability limits the robot's working capability, and the riding comfort limits the robot's working effectiveness, especially with some sensitive instruments mounted on or operated. To these aims, a track-based robot equipped with a novel passive bio-inspired suspension is designed and studied systematically in this paper. Animal or insects have very special leg or limb structures which are good for motion control and adaptable to different environments...
2017: Robotics and Biomimetics
Rong Tan, Xiong Yang, Yajing Shen
The rapid development of robotics offers new opportunities for the traditional biofabrication in higher accuracy and controllability, which provides great potentials for the intelligent biomedical engineering. This paper reviews the state of the art of robotics in a widely used biomaterial fabrication process, i.e., electrospinning, including its working principle, main applications, challenges, and prospects. First, the principle and technique of electrospinning are introduced by categorizing it to melt electrospinning, solution electrospinning, and near-field electrospinning...
2017: Robotics and Biomimetics
Weixin Yang, Alexandr Bajenov, Yantao Shen
This paper develops and experimentally validates a 3D-printed snake robot prototype. Its structure is designed to allocate limited room for each functional module (including an external power module, battery power module, the wireless control and transmission module and some detective sensors), so as to ensure the snake robot works in different environments. In order to control and track the snake robot, a low-cost MEMS-IMU (micro-electro-mechanical systems inertial measurement unit)-based snake robot motion tracking system is developed...
2017: Robotics and Biomimetics
Javier Molina, Shinichi Hirai
In this research, a pruning mechanism for aerial pruning tasks is tested in a real environment. Since the final goal of the aerial pruning robot will be to prune tree branches close to power lines, some experiments related to wireless communication and pruning performance were conducted. The experiments consisted of testing the communication between two XBee RF modules for monitoring purposes as well as testing the speed control of the circular saw used for pruning tree branches. Results show that both the monitoring and the pruning tasks were successfully done in a real environment...
2017: Robotics and Biomimetics
Kinda Khalaf, Dongming Gan, Hooshang Hemami
This paper explores the dynamics of separable coupled rigid body systems, a special class of constrained rigid body systems. These are defined as two systems that interact with each other by forces of contact, resulting in a reduction in dimensionality and complexity. The mechanics and consequences of this reduction are investigated here. The basic hypothesis and an example of the reduction in two successive steps are formulated. A simple mechanical biped model is developed and analyzed in some details by both system theoretical concepts and simulations...
2017: Robotics and Biomimetics
Takahiro Matsuno, Zhongkui Wang, Shinichi Hirai
Automatic handling of many types of food materials are required to realize the automation of production of commercially prepared box lunches. A printable soft gripper was developed for food handling which is simple to produce with a 3D printer. However, the sensing ability of the printable soft gripper was not discussed in previous research. In this paper, a novel method for estimating the grasping state of a printable soft gripper using electro-conductive yarn is presented. Electro-conductive yarn is a conductive material, and the resistance of strings is changed by stretching...
2017: Robotics and Biomimetics
Satoshi Miura, Junichi Takazawa, Yo Kobayashi, Masakatsu G Fujie
This paper presents a feasibility study of a brain-machine interface system to assist repetitive facilitation exercise. Repetitive facilitation exercise is an effective rehabilitation method for patients with hemiplegia. In repetitive facilitation exercise, a therapist stimulates the paralyzed part of the patient while motor commands run along the nerve pathway. However, successful repetitive facilitation exercise is difficult to achieve and even a skilled practitioner cannot detect when a motor command occurs in patient's brain...
2017: Robotics and Biomimetics
Z L Wang, B G Cai
Recently, discriminative correlation filter-based method becomes one of the popular directions in the field of visual tracking because of its computational efficiency and excellent performance, which make it especially suitable for real-time application. Most of them are focused only on the transition estimation. However, accurate scale estimation of the target plays a very important role in long-term tracking task and is still a challenging problem. The principle of CF-based visual tracking is introduced first...
2017: Robotics and Biomimetics
Zhongkui Wang, Mingzhu Zhu, Sadao Kawamura, Shinichi Hirai
Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to perform such tasks. In this paper, we presented four pneumatic soft actuators made of different materials and different fabrication methods and compared their performances through a series of tests. We found that the actuators fabricated by 3D printing showed better linearity and less individual differences, but showed low durability compared to actuators fabricated by traditional casting process...
2017: Robotics and Biomimetics
Fabian Reyes, Shugen Ma
In this paper, a framework for analyzing the motion resulting from the interaction between a snake robot and an object is shown. Metrics are derived to study the motion of the object and robot, showing that the addition of passive wheels to the snake robot helps to minimize slippage. However, the passive wheels do not have a significant impact on the force exerted onto the object. This puts snake robots in a similar framework as robotic arms, while considering special properties exclusive to snake robots (e...
2017: Robotics and Biomimetics
Asma Ayari, Sadok Bouamama
Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic distributed particle swarm optimization (D(2)PSO) algorithm is proposed for trajectory path planning of multiple robots in order to find collision-free optimal path for each robot in the environment. The proposed approach consists in calculating two local optima detectors, LODpBest and LODgBest. Particles which are unable to improve their personal best and global best for predefined number of successive iterations would be replaced with restructured ones...
2017: Robotics and Biomimetics
M Arifur Rahman, Noboru Takahashi, Kawai F Siliga, Nigel K Ng, Zhidong Wang, Aaron T Ohta
Accurate control and precise positioning of opto-thermocapillary flow-addressed bubble microrobots are necessary for micromanipulation. In addition, micromanipulation using the simultaneous actuation of multiple microrobots requires a robust control system to enable independent motion. This paper demonstrates a hybrid closed-loop vision-assisted control system capable of actuating multiple microrobots simultaneously and positioning them at precise locations relative to micro-objects under manipulation. A vision-assisted grasp-planning application was developed and used to calculate the necessary trajectories of the microrobots to form cages around micro-objects...
2017: Robotics and Biomimetics
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