Today, industrial automation is being applied in a wide range of fields. The initial modeling robots and mechanical systems together with simulation results optimal systems. In this study, the designed system simulated to obtain required velocities, accelerations torques actuating arms vision-based automatic system. Due slippery skin fish low friction coefficient, it not easy design an tool han...

In this paper, we review the various methods for robust autonomous mobile robot navigation and scene modeling in structured environments. The techniques vary with availibility of a priori knowledge of the environment and the number of sensors with which the robot is equipped. The methods may be broadly classified into three categories: model based approaches, landmark based methods, and methods...

been proposed. The THG is calibrated to overcome the discrepancies among potentiometers used for robot motion. The performance of the proposed system is tested on a robot with a single joint and the results are presented for a simple closed loop system. The robot is given fast, medium and slow responses as inputs such that a variation of 30 degrees is achieved in time intervals of 1, 2 and 3 se...

The ostraciiform swimming mode utilizes the caudal fin flapping to achieve piscine propulsion with turning maneuverability. Mechanism can be mimicked and implemented in underwater vehicles and it is necessary to know the energy efficiency of this swimming mode for durability consideration. Present study consists the energy efficiency of a servomotor actuated ostraciiform fish robot through powe...

Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper deals with the determination of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of parameters namely weight, velocity, wheel p...

Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

This paper presents a strategy to find an optimal gait for the model of the biomimetic swimmer developed at Caltech to transit forward minimizing control effort, or the integral of squared angular acceleration of the two joints. According to the previous works, it is accepted that a series of sinusoidal-type gaits generates forward transition. Using this sinusoidal gaits as initial guess for op...

quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...