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...

The two-robot entry from the University of South Florida received a Technical Innovation Award for Conceptual and Artistic Design in the Hors d’Oeurves Anyone? event of the 1999 AAAI Mobile Robot Competition. The entry was fielded by a team of seven students from the Computer Science and Engineering and Art departments. Three of the team members were undergraduates. The robots were unique in th...

Crawling on the heart : a mobile robotic device for minimally invasive cardiac interventions p. 9 High dexterity snake-like robotic slaves for minimally invasive telesurgery of the upper airway p. 17 Development of a robotic laser surgical tool with an integrated video endoscope p. 25 Micro-neurosurgical system in the deep surgical field p. 33 Dense 3D depth recovery for soft tissue deformation...

Five robot vision algorithms for object segmentation are explained. This algorithms are compared in an experiment. The aim of the experiment was to check which of this five algorithms are useful for our robotics project in the field of indoor room exploration. In this project a robot shall autonomously generate a map from our office which shall be the foundation to fulfil tasks like an office m...

A behavior strategy of humanoid robot for obstacle avoidance based on four infrared sensors is proposed and implemented on an autonomous humanoid robot. A mechanical structure with 26 degrees of freedom is design so that an implemented small-size humanoid robot named TWNHR-III is able to accomplish five walking motions. Three walking experiments are presented to illustrate that the proposed bip...

Robots as an embodied, multi-modal technology have great potential to be used as a new type of communication device. In this paper we outline our development of the Huggable robot as a semi-autonomous robot avatar for two specific types of remote interaction family communication and education. We also describe three different operator control interfaces (Web Interface, Wearable Interface, and S...

A closed-chain mechanism having redundancy in force domain can produce an effective spring effect by proper internal load distribution. The so-called antagonistic stiffness is provided by redundant actuation in conjunction with nonlinear geometric constraints. The objective of this study is twofold. The first one is to propose a methodology for optimal kinematic design of antagonistic stiffness...

ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the spring-mass model for dynamic walking and running. To help bring the extensive work on this theoretical model further into practice, we present the design and validation of a spring-mass robot that can operate in real-world settings (i.e. off-tether and without planarizing restraints). We outline the mechanisms...