A new type of backbone robot is presented in this paper. The core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. Although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. This design does not suffer from the weaknesses of the continuum design suc...

Abstract— An educational platform is presented here for the beginner students in the Simulation and Artificial Intelligence sciences. It provides with a start point of building and simulation of the manipulators, especially of 2R planar Robot. It also displays a method to replace the inverse kinematic model (IKM) of the Robot with a simpler one, by using a Multi-Layer Perceptron Neural Network ...

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is ess...

in this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. stability conditions are derived by studying unactuated dynamics and using the poincarã© map associated with periodic walking gaits. a stable gait is designed by an optimization process satisfying physical constraints and stability conditions. also, considering...

The intelligence of a mobile robot is highly dependent on its vision. The main objective of an intelligent mobile robot is in its ability to the online image processing, object detection, and especially visual tracking which is a complex task in stochastic environments. Tracking algorithms suffer from sequence challenges such as illumination variation, occlusion, and background clutter, so an a...

The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...