based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

Robotic fish are ideal for surveying fish resources and performing underwater structural inspections. If a robot is sufficiently fishlike in appearance and does not use a screw propeller, real fish will not be easily surprised by it. However, it is comparatively difficult for such a robot to determine its own position in water. Radio signals, such as those used by GPS, cannot be easily received...

In this project, a tele-operated anthropomorphic robotic arm and hand is designed and built as a versatile robotic arm system. The robot has the ability to manipulate objects such as pick and place operations. It is also able to function by itself, in standalone mode. Firstly, the robotic arm is built in order to interface with a personal computer via a serial servo controller circuit board. Th...

When localizing mobile sensors and actuators in indoor environments laser meters, ultrasonic meters or even image processing techniques are usually used. On the other hand, in smoky conditions, due to a fire or building collapse, once the smoke or dust density grows, optical methods are not efficient anymore. In these scenarios other type of sensors must be used...

Biomorphic robots have become a valuable tool in understanding neuronal pattern generation, motor control, interaction with environment, and behavior of animals. We propose that low-cost robotic devices may also be useful to teach those concepts. We developed a prototype of an educational tool in a form of a four-legged robot. The servomotors of the legs are controlled by a neuronal pattern gen...

In this paper, how the design/automation hardware and software and manufacturing laboratory facilities are effectively integrated to teach Computer Aided Design (CAD), Computer Aided Manufacturing (CAM), CAD/CAM integration, and robotics with appropriate hands-on experiences in the Biomedical, Mechanical, and Industrial Engineering Programs are presented and discussed. A typical CAD module deve...

in this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. the majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. this requires the controller to overcome complex problems such as uncertainties and nonlinearit...

Henrik Hautop Lund John Hallam Wei-Po Lee Department of Artificial Intelligence University of Edinburgh, 5 Forrest Hill, Edinburgh EH1 2QL, Scotland, UK [email protected] [email protected] [email protected] http://www.dai.ed.ac.uk/staff/Henrik Lund.html Abstract—True evolvable hardware should evolve whole hardware structures. In robotics, it is not enough only to evolve the control circuit...