In this paper, a new approach for moving an inpipe robot inside underground urban gas pipelines is proposed. Since the urban gas supply system is composed of complicated configurations of pipelines, the inpipe inspection requires a robot with outstanding mobility and corresponding control algorithms to apply for. In advance, this paper introduces a new miniature miniature inpipe robot, called M...

Using a machine to assist remote environment management can save people's time, effort, and traveling cost. This paper proposes a trainable mobile robot system, which allows people to watch a remote site through a set of cameras installed on the robot, drive the platform around, and control remote devices using mouse or pen based gestures performed in video windows. Furthermore, the robot can l...

In this paper we discuss the design of the 100G capturing robot from the point of view of dynamic pre-shaping where all finger links make contact with the target object simultaneously. After briefly explaining the overview of the 100G capturing robot, we mathematically formulate the dynamic pre-shaping problem where we discuss how to determine the mechanical parameters, such as pulley positions...

This paper describes development and implementation of a decentralized continuous sliding mode motion controller for the robot manipulators. Adaptive fuzzy logic systems (FLSs), one for each robot axis, are employed to approximate almost a whole system dynamics. The structural properties of the robot dynamics are used for division of the each FLS to three simpler subsystems. This reduces the FL...

This paper presents a Rule Based Fuzzy Logic approach for automatic reaction control of mobile robots in an uncertain environment. The fuzzy rules anticipated for escaping the obstacles are derived from the experience of human responses to the environment that guides the robot for shortest path to reach the goal. Heuristic rules governing the robot are appropriately created according to various...

This paper describes the design concept of a new robot based on the direct-'drive method using rare-earth DC torque motors. Because these motors have high torque, light weight and compact size, we can construct robots with far better performance than those presently available. For example, we can eliminate all the transmission mechanisms between the motors and their loads, such as reducers and ...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

Mobile robot, especially wheeled mobile robot, with its simple mechanical structure and inherent agility, has attracted significant attentions for dynamic environment applications in the last two decades (Pin et al. 1994 and Purwin 2006). A general mobile robot Guidance, Navigation and Control (GNC) system is illustrated in the following figure. The main function of guidance system is to genera...