The motion planning approach of a multi-fingered robot for carton flap folding operations has been newly developed. This approach considers the loci of the tool center point for carton flap folding operations. Also that considers the pushing or fixing points of the carton flap. This approach is calculated from the rotating angle for carton flap folding and the position of a robot finger tip in ...

The traditional model for human-robot interaction is at the level of user-interface. For example, given a robot structure (say Robonaut a relatively complex many DOF humantorso style robot) how should the robot be commanded by the human? We propose that for planetary exploration on the scale of Martian or Lunar habitation, a fixed robot/architecture will not be versatile enough for the variety ...

Work by the authors published elsewhere addressed the problem of designing controllers that induce exponentially stable, periodic walking motions at a given fixed speed for a 5-link, planar biped robot with one degree of underactuation in single support. The key technical tool was the hybrid zero dynamics, a 1-DOF invariant subdynamics of the full robot model. Further exploiting the features of...

Abstract In this paper, a 5-DOF manipulator is designed to carry the pipeline robot. The joint coordinate system and connecting rod parameters of are confirmed by D-H method, kinematics model established. position direction end deduced using homogeneous transformation method. Monte Carlo method used solve workspace manipulator, MATLAB draw cloud map. Set motion trajectory space planning, throug...

We showed in a previous work that an artificial evolutionary system whose task was to track a light source was able not only to evolve and grow a neural network, but was also able to evolve learning mechanisms. The evolved neural network was then transferred to a robotic system consistent of a camera mounted on the gripper of a robot arm with results comparable to the ones achieved by the simul...

The major control problems for robot debuning mainly arise from uncertainty of the robot manipulators and complex deburring process. In this paper, a new design of hybrid force/position control of robot manipulators via adaptive fuzzy approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine the desired r...

The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction model is used as the estimator of the hys...

Nature’s self-organizing teams have long inspired engineering researchers. Imitating birds and fish, researchers built swarms that could keep formation via elegant decentralized control algorithms. Inspired by ants, they applied formation keeping to carrying loads as a mobile robot team. In this work, we further specialize this collaborative manipulation to manipulating teammates, thereby creat...

An algorithmic platform is proposed in this paper to randomly generate and validate a set of basic morphologies of planar robotic manipulators, with combinations of serially connected links and loops. To design a robot for specified tasks of following a trajectory and possessing a prescribed stiffness, there are possibilities of working with several hybrid morphologies. Normally, one such basic...

This paper proposed a design idea of a novel under-actuated finger mechanism, and analyzed its principle and designed the finger mechanism. The finger is designed based on a gear-rack mechanism, spring constraint and particular active middle-segment, which is passively adaptive in grasping objects. A new multi-fingered hand named as TH-3R Hand is designed based on the finger. TH-3R Hand has 5 f...