Robots are versatile mechanical devices equipped with actuators and sensors under the control of a computing system They perform tasks by executing motions in the physical space This space is populated by various objects and is subject to the laws of nature A typical task consists of achieving a goal spatial arrangement of objects from a given initial arrangement for example assembling a produc...

Programmable parts orienting is an important capability for exible automation systems. Here we study how a part grasped in an unknown orientation by a force-controlled robot can be oriented by a sequence of push-align actions against a wall followed by sensor measurements of the distance from the grasp point to the wall. This paper concentrates on three issues: planning a sequence of actions to...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

We propose to develop reactive robot leg controllers in hardware using a morphogenetic approach that incorporates both evolutionary and developmental processes. Evolvable hardware has been crippled by issues of scalability and viability of evolved designs that arise when evolving complex circuits on modern mainstream field programmable gate arrays (FPGAs). To overcome these limitations requires...

Intelligent robotics demands the integration of smart sensors that allow the controller to efficiently measure physical quantities. Industrial manipulator robots require a constant monitoring of several parameters such as motion dynamics, inclination, and vibration. This work presents a novel smart sensor to estimate motion dynamics, inclination, and vibration parameters on industrial manipulat...

in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...

This paper presents experimental analysis of wheeled mobile robots. Mathematical modelling of the mobile robot is presented. The mobile robots consist of an omni-directional and three differential drive mobile robots are tested and moved in given trajectories and the systematic errors of the robots are determined. A new method for omni-direction mobile robot was introduced in which the robot wa...

This paper aims to develop a writing robot by recognizing the speech signal from the user. The robot arm constructed mainly for the disabled people who can’t perform writing on their own. Here, dynamic time warping (DTW) algorithm is used to recognize the speech signal from the user. The action performed by the robot arm in the environment is done by reducing the redundancy which frequently fac...

Gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. In this paper, a new robotic orthosis is presented for treadmill training. In the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

  Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...