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 use of robotics to enhance visualization and tissue manipulation capabilities contributes to the advancement of minimally invasive surgery. For the development of surgical robot manipulators, the use of advanced dynamic control is an important aspect at the design stage to determine the driving forces and/or torques, which must be exerted by the actuators in order to produce a desirable tra...

In this paper, a 4-DOF robotic arm for tool handling in laparoscopic surgery is introduced. The robot provides sufficient force to handle endoscopic tools used for large organ manipulation and is capable of measuring the tool-tissue forces. The RCM constraint is achieved using a spherical mechanism and roll and insertion motions are provided using time pulley and spindle-drive, respectively. Th...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

This paper presents a numerical implementation of inverse and direct kinematics of a 3-DOF parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using Matlab. The robot has two degrees of orientation freedom and one degree of translatory freedom. The inverse kinematics was expressed in term of Z-Y-Z Euler angles and direct kinematics was solved numerically using Newton-Kantor...

Mobile robots are machines that can move and act in the real world, making it possible to generate a multitude of interplay situations, which can engage children and encourage interaction in a variety of different ways. Mobility, appearance, interaction modalities (e.g., sound, light, moving parts) and behaviour (predetermined and adaptive) can all have an influence in sustaining the interest (...

In this paper, we developed two noble mechanisms for improving the motions of humanoid robots. The double spherical hip joint provides the equivalent function of waist joints without actually adding them. The backlush clutch is a new drive mechanism for knee joints of humanoid robots, which enables switching between drive and free modes. We developed a humanoid robot equipped with these two mec...

Object recognition is a task that people learn as small children, but which presents significant challenges for robotics. For some purposes, objects can be recognized by robots through detection of color transitions (outlines) presumed to be unique in a given environment, as with the spherical ball used in robot soccer competitions. Where outline alone is not determinative, but where the robot ...

Some iterative matrix relations for the kinematics and dynamics of a spherical Agile Wrist parallel robot are established. The manipulator prototype is a three-degree-offreedom mechanical system with three parallel legs. Controlled by concurrent torques, which are generated by some electric motors, three active elements of the robot have three independent rotations. Supposing that the position ...

Mobile robots are machines that can move and act in the real world, making it possible to generate a multitude of interplay situations, which can engage children and encourage interaction in a variety of different ways. Mobility, appearance, interaction modalities (e.g., sound, light, moving parts) and behaviour (predetermined and adaptive) can all have an influence in sustaining the interest (...