Modular robots offer a robust and flexible framework for exploring adaptive locomotion control. They allow assembling robots of different types e.g. snakelike robots, robots with limbs, and many other different shapes. In this paper we present a new cheap modular robot called YaMoR (for “Yet another Modular Robot”). Each YaMoR module contains an FPGA and a microcontroller supporting a wide rang...

With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This project presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and computi...

The Claytronics project has produced interesting hardware components like cylindric micro-robots called catoms and software models to enable the concept of programmable matter. One application is the use of several catoms linked together so that they can “walk”. These walkers can explore an area and thanks to electromagnetic wireless nanonetworks, they can communicate with each other sharing th...

robotic exploration and landmark determination hardware efficient algorithms and fpga implementation What to say and what to do when mostly your friends love reading? Are you the one that don't have such hobby? So, it's important for you to start having that hobby. You know, reading is not the force. We're sure that reading will lead you to join in better concept of life. Reading will be a posi...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...

Two design flows of the Petri net-based cyber-physical systems oriented towards implementation in an FPGA are presented paper. The first method is based on behavioural description system. control part system specified by interpreted net, and described directly synthesisable Verilog hardware language for further programmable device. second technique involves splitting into sequential modules. In...

A work-cell consists of industrial robots and a collection of machines or peripherals. A typical cell might contain a parts feeder, a molding machine and a robot. The various machines are 'integrated' and controlled by a single computer or PLC (programmable logic controller). DELMIA is one of the software that enables manufacturers in any industry to define, plan, create, monitor, and control a...

dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...