In this paper we investigate a short range capacitive proximity sensor as complementary sensor system in situations, where conventional optical based sensor systems have short comings, e.g., due to space requirements. In the presented collision avoidance scenario it can be used even without any vision or Lidar based sensor system. Our sensor is capable of detecting humans and objects made of co...

The mobile robot navigation with complex environment needs more input space to match the environmental data into robot outputs in order to perform a realistic task. At the same time, the number of rules at the rule base needs to be optimized to reduce the computing time and to provide the possibilities for real time operation. In this paper, the optimization of fuzzy rules using a Modified Fuzz...

Purpose This study was to determine the effect of Upper limb robot therapy (ULRT) on upper limb function in stroke patients. Methods The subjects of this study were 3 male hemiplegic patients who voluntarily consented to participate in the study. They were received general training and ULRT during 30 minutes for each session, 5 times a week for a month. Upper limb function was evaluated by InMo...

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...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

The automation of bin-picking processes has been a research topic for almost two decades. General-purpose equipment, however, still does not show adequate success rates to find application in most industrial tasks. Human–robot collaboration bin–picking tasks can increase the rate by exploiting human perception and handling skills robot ability perform repetitive aim this paper, starting from ge...