there are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. in this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both newton-euler and lagrange-euler methods. the presented models are simulated for a mitsubishi pa10-6ce robotic manipulator characteristics mounte...

In this paper, we propose a mechanism allowing to evaluate the schedulability of a robotic software architecture, and then validate its real-time properties. The robotic software architecture is described through a Domain Speci c Language (DSL), MAUVE, that allows to model communicating components. The evaluation of schedulability of the architecture consists in rst computing the Worst-Case Exe...

a general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. the robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. the curvatures in pipeline are the most important constraints in front of the robot through navigation process. to study the adapt...

In most multi-robot systems, an individual robot is not capable to solve computationally hard problems due to lack of high processing power. This paper introduces the novel concept of robotic clusters to empower these systems in their problem solvings. A robotic cluster is a group of individual robots which are able to share their processing resources, therefore, the robots can solve difficult ...

This paper is devoted to the exploration of three-dimensional (3-D) maneuvers using a free-swimming fishlike robot. For the sake of a better maneuverability, an Esox lucius robotic fish consisting of a yawing head, two degrees of freedom pectoral mechanism and multilink body joints together with a caudal fin is developed. With full consideration of both mechanical configuration and propulsive p...

In the present study, concurrent treatment with robotic step training and a serotonin agonist, quipazine, generated significant recovery of locomotor function in complete spinal cord-transected mice (T7-T9) that otherwise could not step. The extent of recovery achieved when these treatments were combined exceeded that obtained when either treatment was applied independently. We quantitatively a...

Modular robots are capable of forming primitive shapes such as lattice and chain structures with the additional flexibility of distributed sensing. The biomimetic structures developed using such modular units provides ease of replacement and reconfiguration in co-ordinated structures, transportation etc. in real life scenarios. Though the research in the employment of modular robotic units in f...

This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed realizes two configurations, namely, insertion and modes, using only single motor. In mode, assumes thin shape such that it can insert its tip into space. mode is activated through folding mechanism. Mode switching be achieved ways: actively by m...

Although industrial robots are common, a higher degree of manipulability might be required to expand the applications manipulators in field medicine. Modifying mechanical design robot as per workspace can perceived an optimization problem. Hence, novel spatial manipulator is designed for diagnostic apparatus using different algorithms. Standard Genetic Algorithm (SGA) and GA (Genetic Algorithm)...