The need for robotic assistance has been identified to be essential in space exploration missions. This work is targeted for a centauroid robot, called WorkPartner, which is currently being developed to work interactively with astronauts. This paper describes SimPartner, a dynamic robot simulator of the WorkPartner robot by using ODE (Open Dynamics Engine) software. The software incorporates an...

quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

Autonomous robots may some day be able to behave like an animal, be accepted by the animal as a conspecific and influence the individual as well as the collective behaviour of the animal and its conspecifics. With this objective in mind we report here the results of the first step in this direction, making the robot move like an animal. We programmed the Alice (sugar-cube) robot to behave quali...

Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

A simple easy to implement algorithm is proposed to address wall tracking task of an autonomous robot. The robot should navigate in unknown environments, find the nearest wall, and track it solely based on locally sensed data. The proposed method benefits from coupling fuzzy logic and Q-learning to meet requirements of autonomous navigations. Fuzzy if-then rules provide a reliable decision maki...

This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...

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...

this paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. fuzzy logic control (flc) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  on the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

Throughout the history of technological progress, attempts have been made to build a machine that looks and behaves like humans. This paper presents a semi‐anthropomimetic robot. The robot structure consists of a human‐like upper body mounted on a mobile platform (mobile base, cart). The robot uses the three‐wheeled mobile platform with two driving wheels and on...