This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic properties of this control and a dynamics of different body segments. It turned out that despite using homogeneous generators, physical constraints have an inh...

In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...

Indoor environments can typically be divided into places with different function-alities like corridors, rooms or doorways. The ability to learn such semantic categories from sensor data enables a mobile robot to extend the representation of the environment, and to improve its capabilites. As an example, natural language terms like corridor or room can be used to communicate the position of the...

As they learn to walk, crawl, and fly, biologically inspired robots advance both robotics and scientists' understanding of how animals move The robots developed at Case Western Reserve University in Cleveland may have unimaginative names-Robot One, Robot Two, and Robot Three-but they make up for it in looks. "All three so far are six legged," explains Roger Quinn, the mechanical engineer who bu...

Muhammad Rehan Ahmed (2011): Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction. Örebro Studies in Technology 45, 122 pp. Inspiration from biological systems suggests that robots should demonstrate same level of capabilities that are embedded in biological systems in performing safe and successful interaction with the humans. The major challenge in physical human ...

modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...

– one of the important applications of robots is in material handling and transport of various shaped objects. in cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. this paper presents an analytical method for minimizing the oscillation of a suspended object during transport. this method...

An inchworm-like robot is a mobile robot that imitates the locomotion pattern of a natural inchworm. Inchworm or snake like robots can crawl or move in highly constrained environment such as maintenance conduit for buildings and factories, and human intestines and blood vessels. In this paper, the development a planar inchworm robot based on the basic inchworm motion is presented. The motion is...

Combining Fable robot, a modular robot, with a neuroinspired controller, we present the proof of principle of a system that can scale to several neurally controlled compliant modules. The motor control and learning of a robot module are carried out by a Unit Learning Machine (ULM) that embeds the Locally Weighted Projection Regression algorithm (LWPR) and a spiking cerebellar-like microcircuit....

Recent studies have shown that cognitive and social interventions are crucial to the overall health of older adults including their psychological, cognitive, and physical well-being. However, due to the rapidly growing elderly population of the world, the resources and people to provide these interventions is lacking. Our work focuses on the use of social robotic technologies to provide person-...