Discriminating or classifying different terrains is an important ability for every autonomousmobile robot. A variety of sensors, preprocessing techniques, and algorithms in different robots were applied. However, little attentionwas paid to theway sensory datawas generated and to the contribution of different sensory modalities. In this work, a quadruped robot traversing different grounds using...

Urban search and rescue, industrial inspections, and military intelligence have one need in common: small-sized mobile robots that can travel across the rubble of a collapsed building, squeeze through small crawl-spaces to take measurements or perform visual inspections, and slither into the shelter of insurgents to gather intelligence. Some of these areas are not only difficult to reach, but m...

A particular class of underactuated systems is obtained by considering kinematically redundant manipulators for which all joints are passive and the only available inputs are forces/torques acting on the end-effector. Under the assumption that the degree of redundancy is provided by prismatic joints located at the base, we address the problem of steering the robot between two arbitrary equilibr...

We consider some theoretical aspects of the control problem for rigid link robots having some joints rigid and some with non-negligible elasticity. We start from the reduced model of robots with all joints elastic introduced by Spong, which is linearizable by static feedback. For the mixed rigid/elastic joint case, we give structural necessary and sufficient conditions for input—output decoupli...

This paper describes a new approach allowing the generation of a simplified Biped gait. This approach combines a classical dynamic modeling with an inverse kinematics’ solver based on particle swarm optimization, PSO. First, an inverted pendulum, IP, is used to obtain a simplified dynamic model of the robot and to compute the target position of a key point in biped locomotion, the Centre Of Mas...

COMAN is a compliant humanoid robot. The introduction of passive compliance in some of its joints affects the dynamics of the whole system. Unlike traditional stiff robots, there is a deflection of the joint angle with respect to the desired one whenever an external torque is applied. Following a bottom up approach, the dynamic equations of the joints are defined first. Then, a new model which ...

The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used...

We present the UDiffWrist (UDW), a low-impedance 2-DOF wrist exoskeleton featuring cable-differential transmission. To investigate effect of different design strategies for achieving kinematic compatibility, we developed two versions this robot: One version (UDW-C) achieves compatibility only in case perfect alignment between human and robot joints. The second (UDW-NC) connects via passive join...

Most existing lower-limb rehabilitation robots (LLRR) for stroke and postoperative are bulky prone to misalignments between robot human joints. These drawbacks hamper LLRR application, leading poor arthro-kinematic compatibility. To address these challenges, this paper proposes a novel with portability compliance features. The developed consists of an underactuated mechanism crus linkage, respe...

Abstract Continuum robots have attracted lots of attention due to their structural compliance, manipulation dexterity, and design compactness. To extend the application scenarios, a slender continuum robot, CurviPicker, was developed for low-load medium-speed pick-and-place tasks in previous study. improve payload capacity positioning accuracy novel Delta Robot (CDR) then proposed with three du...