Serial robots and parallel robots have their own pros and cons. While hybrid robots consisting of both of them are possible and expected to retain their merits and minimize the disadvantages. The Delta-RST presented here is such a hybrid robot built up by integrating a 3-DoFs traditional Delta parallel structure and a 3-DoFs RST robotic wrist. In this paper, we focus on its kinematics analysis ...

Endovascular intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic systems for endovascular surgery assistant have been carried out widely. Robotic system takes advantages of higher precision, can be controlled remotely etc. In this paper a novel robotic catheter manipulation system is presented. The d...

This paper presents a scene analysis system, called MESSIE, in a 3D robotic context. It is a blackboard based multispecialist system. The basic architecture of MESSIE has been extended to meet the requirements of a vision reasoning system for a robotic platform and to generalize the application domain of our previous works 7, 4, 3, 5]. In the rst part, we present the system architecture and the...

This document presents a mathematical model of the states of a three-fingered robotic hand (Robotiq 3-Finger Adaptive Gripper) in quasistatic equilibrium with and without contact with an object. The mechanical coupling and the breakaway mechanism of the under-actuated robotic hand as well as its contact with the object are modeled as a hybrid system which is suitable for use for simulation, whi...

This paper reports on an experiment testing whether a particular repre sentation of robotic control processes is adequate for capturing signi cant variations in robot behavior These variations can then be explored by a selectionist mechanism that generates and tests variations An ecosystem modeled after a physical robotic ecosystem is introduced The ecosystem contains a robot that occasionally ...

The development of a robotic-driven maintenance solution capable of automatically maintaining reconfigurable vibrating screen (RVS) machine when utilized in dangerous and hazardous underground mining environment has called for the design of a multifunctional robotic end-effector capable of carrying out all the maintenance tasks on the RVS machine. In view of this, the paper presents a bio-inspi...

Robotic missions beyond 2013 will likely be precursors to a manned habitat deployment on Mars. Such missions require robust control systems for long duration activities. Current single rover missions will evolve into deployment of multiple, heterogeneous cooperating robotic colonies. This paper describes the map-making memory and action selection mechanism of BISMARC (Biologically Inspired Syst...

Flapping-wing robotic platforms based on Dipteran insects have demonstrated lift to weight ratios greater than 1, but research into regulating the aerodynamic forces produced by their wings has largely focused on active wing trajectory control. In an alternate approach, a flapping-wing drivetrain design that passively balances aerodynamic drag torques is presented. A discussion of the dynamic p...

One of the parade examples of agent coordination through a shared environment is the use of chemical markers, or pheromones, for path planning in insect colonies. We have developed a digital analog of this mechanism that is well suited to problems such as the control of unmanned robotic vehicles, and extended it in novel ways to provide a rich set of tools for robotic control. We introduce the ...

In this paper we present a novel controller for Shape Memory Alloy (SMA) actuated robotic systems. The new controller, called BAC (B-spline based Adaptive Control), is based on a hybrid combination of gain scheduling, Bspline approximation, variable structure control and integral control. The proposed controller shows excellent positioning accuracy and speed throughout the full range of motion ...