In this paper, a central pattern generator (CPG) model based on asynchronous coupling of cellular automaton (CA) phase oscillators for hexapod robot is presented. The presented CPG composed the CA whose discrete state transitions are triggered by multiple clocks. Then, evaluation functions to quantify synchronization states target gait patterns in introduced. Analyzing synchronizations using fu...

Present developments in the natural sciences are providing enormous and challenging opportunities for various AI technologies to have an unprecedented impact in the broader scientific world. If taken up, such applications would not only stretch present AI technology to the limit, but if successful could also have a radical impact on the way natural science is conducted. We review our experience...

We introduce an object-oriented design of a universal control system based on standard hardware like workstations or PCs. This system supports the control of industrial devices such as robot arms, Cartesian systems or I/O units. The new architecture merges the bonds of the traditional control components such as robot controls (RC), numeric controls (NC) or programmable logic controllers (PLC). ...

This paper presents a hardware realization of a genetic algorithm (GA) for the path planning problem of mobile robots on a field programmable gate array (FPGA). A customized GA intellectual property (IP) core was designed and implemented on an FPGA. A Xilinx xupv5-lx110t FPGA device was used as the hardware platform. The proposed GA IP core was applied to a Pioneer 3-DX mobile robot to confirm ...

A time critical process in a real-time mobile robot application such as RoboCup, is the determination of the robot position in the game field. Aiming at low-cost and efficiency, this paper proposes the use of field-programmable gate array device (FPGA) in the vision system of a robotic team. We describe the translation of well-known computer vision algorithms to VHDL and detail the design of a ...

In this paper, we present a general approach to develop a kinematic controller for any serial robots using Programmable Multi-Axes Controller (PMAC) and MoveIt!. PMAC, a commercial product for motion control, is an all-in-one embedded system to control motion, amplify signals and acquire sensor information. MoveIt! is a state-of-the-art software for kinematicsbased manipulations. It integrates ...

One of the approaches used to partition inputs consists in modifying and limiting the input set using an external transcoder. This method is strictly related to output coding. This paper presents an optimal output coding in PAL-based programmable transcoders. The algorithm can be used to implement circuits in PAL-based CPLDs.

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

While single-user computing via the Internet has established a powerful global link between people, it offers little to individuals working intensively and collaboratively with an array of tools, documents and materials in one physical space. This shortcoming in the everyday employment of Information Technology (IT) has prompted the architect-author to assemble a team of researchers to develop ...