This paper describes the application of Particle Swarm Optimization (PSO) for gait optimization on a humanoid robot. The biped gait is modeled by a number of parameterizable trajectories. To achieve omni-directional walking, different sets of gait parameters are optimized for specific walk directions and interpolated later. By using a fitness test based on an acceleration walk, the optimized se...

We study, theoretically, omni-directional Euclidean transformation-optics (TO) devices comprising planar, lightray-direction changing, imaging, interfaces. We initially studied such devices in the case when the interfaces are homogeneous, showing that very general transformations between physical and electromagnetic space are possible. We are now studying the case of inhomogeneous interfaces. T...

Autonomous navigation of mobile robot requires a ranging system for measurement of distance to environmental objects. It is obvious that the wider and the faster distance measurement gives a mobile robot more freedom in trajectory planning and control. The active omni-directional ranging system proposed in this paper is capable of obtaining the distance for all 3600 directions in real-time beca...

This report briefly introduces the concept of an omni-directional drive. It then proceeds to give overviews of many of the the currently available and in use forms of achieving omni-directional drive. Both units which have received commercial use, and those restricted to hobby robotics have been listed. Because no specific application is in mind, no recommendation towards a specific drive metho...

A millimeters size omni-directional mobile micro-robot is presented in this paper. A unique duel-wheel structure is designed for no-slip motion during the steering, by turning the slip friction between the wheel and ground into rolling friction. The robot was driven by four electromagnetic micromotors with 2.1mm×2.1mm×1.3mm size. Three of them are for translation and the other one is for rotati...

This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several different robotics platform ideas. The platform is shaped like an equilateral triangle with a servo m...

We present an optical mapping near-eye (OMNI) three-dimensional display method for wearable devices. By dividing a display screen into different subpanels and optically mapping them to various depths, we create a multiplane volumetric image with correct focus cues for depth perception. The resultant system can drive the eye's accommodation to the distance that is consistent with binocular stere...

The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular configuration. However, in many cases, the physical sense of such properties is difficult to explain to students. The aim of this article is to use haptic feedback to render to the user the signification of diff...

The structure of OmniKity-I (OK-I), the miniature omni-directional mobile robot, and its kinematics and dynamics models are presented. OK-I has three DOFs in the plane. A conventional two wheeled mobile robot (2-WMR) serves as the base of OK-I for translational motion. The robot body is on top of the base. The third motor controls angular motion of the body as the base turns according to the tr...