This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is composed of motors with controllers instal...

In this paper we develop two noble mechanisms for im proving the motions of humanoid robots The double spherical joint is a six DOF joint that consists of six sin gle DOF mechanical pairs in series with their axes inter secting at a point The double spherical joint replaces two hip joints six DOF of humanoid robot and even provides the equivalent function of waist joints without actually adding...

The paper by Zhnang and Roth [5] presents a Linear solution to kinematic parameter identification of robot manipulators. With their method, the orientation parameters for all revolute joints have to be solved first before solving for the translation parameters for all revolute joints and the orientation parameters for all prismatic joints simultaneously. Our major modification here is to decomp...

This paper describes the design and performance of the OmniTread serpentine robot, developed at the University of Michigan. Serpentine robots are mobile robots that comprise of multiple rigid segments, connected by actuated joints. The segments usually have drive elements, such as wheels or tracks. To date, we have developed two versions of the OmniTread. The larger version, called “OT-8,” has ...

A proportional-derivative (PD) control with on-line gravity compensation is proposed for regulation tasks of robot manipulators with elastic joints. The work extends a previous PD control with constant gravity compensation at the desired configuration. The control law requires measuring only position and velocity on the motor side of the elastic joints, while the on-line gravity compensation to...

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1070-9932/13/$31.00©2013IEEE n this article, we present a robot capable of autonomously traversing and manipulating a three-dimensional (3-D) truss structure. The robot can approach and traverse multiple structural joints using a combination of translational and rotational motions. A key factor in allowing reliable motion and engagement is the use of specially designed structural building block...

Programmable matter is a material that produces distinctive shapes or patterns according to a given command. Often they are composed of interconnected modular elements that are able to make or break the connections or alter relative orientation. We present programmable matter based on robotic origami that demonstrates the capability to fold into 3D shapes starting from a nominally 2D sheet. Thi...

In order to overcome the limitations of the end clamps of traditional robot, multifingered dextrous robot hands have been well developed since the last decade. A new fuzzy logic control structure is presented in this article, which is for the position control of the mini-linear driver used in driving the joints of the dextrous robot hands. This method is proved to be effective in simulations an...

The paper deals with designing and developing a biped robot for research purposes. Robot’s mechanical structure and drives system are described hereunder in details. Moreover the new modified actuators as well as the possibility to the stabilization of robot with serial elasticity in the joints are discussed. An industrial Ethernet-based real-time communication protocol is introduced and the co...