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Robotics and Biomimetics

Zonggao Mu, Liang Han, Wenfu Xu, Bing Li, Bin Liang
A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it to lose one degree of freedom (DOF), hence reducing its movement ability. In this paper, the key problems related to the fault-tolerant including kinematics, workspace, and trajectory planning of a non-redundant space manipulator under single joint failure are handled...
2016: Robotics and Biomimetics
Dongdong Bai, Chaoqun Wang, Bo Zhang, Xiaodong Yi, Yuhua Tang
The loop closure detection (LCD) is an essential part of visual simultaneous localization and mapping systems (SLAM). LCD is capable of identifying and compensating the accumulation drift of localization algorithms to produce an consistent map if the loops are checked correctly. Deep convolutional neural networks (CNNs) have outperformed state-of-the-art solutions that use traditional hand-crafted features in many computer vision and pattern recognition applications. After the great success of CNNs, there has been much interest in applying CNNs features to robotic fields such as visual LCD...
2016: Robotics and Biomimetics
Tianjiang Hu, Boxin Zhao, Dengqing Tang, Daibing Zhang, Weiwei Kong, Lincheng Shen
This article concentrates on open-source implementation on flying object detection in cluttered scenes. It is of significance for ground stereo-aided autonomous landing of unmanned aerial vehicles. The ground stereo vision guidance system is presented with details on system architecture and workflow. The Chan-Vese detection algorithm is further considered and implemented in the robot operating systems (ROS) environment. A data-driven interactive scheme is developed to collect datasets for parameter tuning and performance evaluating...
2016: Robotics and Biomimetics
Dengqing Tang, Tianjiang Hu, Lincheng Shen, Zhaowei Ma, Congyu Pan
This paper presents a new algorithm for extrinsically calibrating a multi-sensor system including multiple cameras and a 2D laser scanner. On the basis of the camera pose estimation using AprilTag, we design an AprilTag array as the calibration target and employ a nonlinear optimization to calculate the single-camera extrinsic parameters when multiple tags are in the field of view of the camera. The extrinsic parameters of camera-camera and laser-camera are then calibrated, respectively. A global optimization is finally used to refine all the extrinsic parameters by minimizing a re-projection error...
2016: Robotics and Biomimetics
Akshay Rao, Mohan Rajesh Elara, Karthikeyan Elangovan
This paper aims to develop a local path planning algorithm for a bio-inspired, reconfigurable crawling robot. A detailed description of the robotic platform is first provided, and the suitability for deployment of each of the current state-of-the-art local path planners is analyzed after an extensive literature review. The Enhanced Vector Polar Histogram algorithm is described and reformulated to better fit the requirements of the platform. The algorithm is deployed on the robotic platform in crawling configuration and favorably compared with other state-of-the-art local path planning algorithms...
2016: Robotics and Biomimetics
Peng Li, Shugen Ma, Congyi Lyu, Xin Jiang, Yunhui Liu
Pipe robots can perform inspection tasks to alleviate the damage caused by the pipe problems. Usually, the pipe robots carry batteries or use a power cable draining power from a vehicle that has many equipments for exploration. Nevertheless, the energy is limited for the whole inspection task and cannot keep the inspection time too long. In this paper, we use the total input energy as the cost function and a more accurate DC motor model to generate an optimal energy-efficient velocity control for a screw-drive pipe robot to make use of the limited energy in field environment...
2016: Robotics and Biomimetics
Chao Ren, Yi Sun, Shugen Ma
This paper studies passivity-based trajectory tracking control of an omnidirectional mobile robot. The proposed control design is simple to be implemented in practice, because of an effective exploitation of the structure of robot dynamics. First, the passivity property of the prototype robot is analyzed. Then the control system is designed based on the energy shaping plus damping approach. We find that the prototype robot itself has enough damping forces. As a result, only energy shaping is needed in our proposed controller, while the damping injection is unnecessary for our robot...
2016: Robotics and Biomimetics
Jinglei Zhao, Huayan Pu, Jun Zou, Yi Sun, Shugen Ma
A novel eccentric paddle mechanism based on the epicyclic gear mechanism (ePaddle-EGM) has been proposed to enhance the mobility of amphibious robot for multi-terrain tasks with diverse locomotion gaits. This paper presents a brief description for this mechanism. Based on the feature of ePaddle-EGM, a unique non-reciprocating legged gait planning method is proposed. This method could minimize the negative effect of backlash between gear mesh in the epicyclic gear mechanism. Furthermore, the stable tripod gait for the ePaddle-EGM-based hexapod robot is designed...
2016: Robotics and Biomimetics
Yi Sun, Yang Yang, Shugen Ma, Huayan Pu
Gaining high mobility on versatile terrains is a crucial target for designing a mobile robot toward tasks such as search and rescue, scientific exploration, and environment monitoring. Inspired by dextrous limb motion of animals, a novel form of locomotion has been established in our previous study, by proposing an eccentric paddle mechanism (ePaddle) for integrating paddling motion into a traditional wheeled mechanism. In this paper, prototypes of an ePaddle mechanism and an ePaddle-based quadruped robot are presented...
2016: Robotics and Biomimetics
Ha Manh Do, Weihua Sheng, Meiqin Liu
This paper proposes and implements an open framework of active auditory learning for a home service robot to serve the elderly living alone at home. The framework was developed to realize the various auditory perception capabilities while enabling a remote human operator to involve in the sound event recognition process for elderly care. The home service robot is able to estimate the sound source position and collaborate with the human operator in sound event recognition while protecting the privacy of the elderly...
2016: Robotics and Biomimetics
Bo Ding, Huaimin Wang, Zedong Fan, Pengfei Zhang, Hui Liu
A primary requirement in distributed robotic software systems is the dissemination of data to all interested collaborative entities in a timely and scalable manner. However, providing such a service in a highly dynamic and resource-limited robotic environment is a challenging task, and existing robot software infrastructure has limitations in this aspect. This paper presents a novel robot software infrastructure, micROS-drt, which supports real-time and scalable data distribution. The solution is based on a loosely coupled data publish-subscribe model with the ability to support various time-related constraints...
2016: Robotics and Biomimetics
Tran Vu Minh, Nguyen Manh Linh, Xinkai Chen
Piezoelectric actuators (PEAs) have been widely used in micro- and nanopositioning applications due to their fine resolution, rapid responses, and large actuating forces. However, a major deficiency of PEAs is that their accuracy is seriously limited by hysteresis. This paper presents adaptive model predictive control technique for reducing hysteresis in PEAs based on autoregressive exogenous model. Experimental results show the effectiveness of the proposed method.
2016: Robotics and Biomimetics
Bruce E Saunders
Part 1 completed the studies of five long-shafted, cellulose, frictional, hooked probabilistic fasteners. Part 2 identified three substructures prevalent in the natural world for probabilistic fasteners and detailed the collection of voxel dataclouds while measuring from the natural fluorescence of their composing chitin and cellulose under the laser illumination of a confocal microscope. In this part 3, consideration is given to the development of a behaviour-optimised bioinspired probabilistic attachment system that is thermodynamically inert due to attachment substructures, such as interlocking setae, that act as arrestors and temporary interlocking devices...
2016: Robotics and Biomimetics
Mannam Naga Praveen Babu, J M Mallikarjuna, P Krishnankutty
Two-dimensional velocity fields around a freely swimming freshwater black shark fish in longitudinal (XZ) plane and transverse (YZ) plane are measured using digital particle image velocimetry (DPIV). By transferring momentum to the fluid, fishes generate thrust. Thrust is generated not only by its caudal fin, but also using pectoral and anal fins, the contribution of which depends on the fish's morphology and swimming movements. These fins also act as roll and pitch stabilizers for the swimming fish. In this paper, studies are performed on the flow induced by fins of freely swimming undulatory carangiform swimming fish (freshwater black shark, L = 26 cm) by an experimental hydrodynamic approach based on quantitative flow visualization technique...
2016: Robotics and Biomimetics
Bo Ouyang, Yunhui Liu, Dong Sun
Continuum robot, as known as snake-like robot, usually does not include rigid links and has the ability to reach into a confined space by shaping itself into smooth curves. This paper presents the design of a three-segment continuum robot for minimally invasive surgery. The continuum robot employs a single super-elastic nitinol rod as the backbone and concentric disks assembled on the backbone for tendons attachment. Each segment is driven by four tendons and controlled by two linear actuators. The length of each segment is optimized based on the surgical workspace...
2016: Robotics and Biomimetics
Haifei Zhu, Yisheng Guan, Shengjun Chen, Manjia Su, Hong Zhang
For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation along with corresponding operations including sampling, metric calculation and interpolation is presented. A simple but effective model of a biped climbing robot in trusses is proposed, through which the motion planning of one climbing cycle is transformed to that of a manipulator...
2016: Robotics and Biomimetics
Eleni Kelasidi, Pål Liljebäck, Kristin Y Pettersen, Jan T Gravdahl
Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior capabilities for access through narrow openings and within confined areas. This is interesting for inspection and monitoring operations, for instance within the subsea oil and gas industry and within marine archeology. In addition, underwater snake robots can provide both inspection and intervention capabilities and are thus interesting candidates for the next generation inspection and intervention AUVs...
2015: Robotics and Biomimetics
Bruce E Saunders
To create a model of a biomimetic product from the A. minus hook after a biomimetic methodology has been applied, this paper describes an investigation into the most appropriate method of shape acquisition for the purposes of reproduction and product development towards manufacture. This morphological study investigates confocal microscopy, SEM and other microscopy techniques. Confocal microscopy was selected as being most appropriate and small structures of cellulose and insect cuticle imaged. The benefits and disadvantages of this approach are noted...
2015: Robotics and Biomimetics
Ausama Hadi Ahmed, Carlo Menon
This manuscript is the first of two parts of a work investigating optimal configurations of legged climbing robots while loitering on vertical surfaces. In this part 1, a mathematical model of a climbing robot based on the finite element method (FEM), specifically the stiffness method, is generated. A number of parameters, namely the height of the robot, the length of its body and the position of its legs, are investigated to assess their effect on the adhesion requirements needed for the robot to stay attached to a wall...
2015: Robotics and Biomimetics
Ausama Hadi Ahmed, Carlo Menon
This manuscript is the second of two parts of a work investigating optimal configurations of legged climbing robots while loitering on vertical surfaces. In this Part 2, a structural analysis based on the finite element method, specifically the stiffness method, is performed to address the problem. Parameters that are investigated in this Part 2 include the inclination of both the body and the legs of the robot. Outcomes of the performed study are validated by analyzing the posture of 150 ants when loitering on vertical surfaces...
2015: Robotics and Biomimetics
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