In this paper, the authors describe the design of a bendable robotic tip for semi-autonomous colonoscopy called COLOBOT. It is a flexible robotic manipulator made of silicone rubber in view of the compact size and safety compatibility in the medical context. The outer diameter of the tip is 17 mm which is lesser than the average diameter of colon (20mm). Three servo-valves are used to control t...

A truss climbing robot has been extensively investigated because of its wide range of promising applications such as construction and inspection of truss structures. It is designed to have degrees of freedom to move in three-dimensional truss structures. Although many degrees of freedom allow the robot to reach various position and orientation, it causes complexity of design and control. In thi...

This contribution presents Soft Computing Robot Navigation for mobile robot SCORCAS, a Case Study. The Navigation uses fuzzy logic experienced on mobile robot systems. Fuzzy logic is applied in analogous way into three sub-systems: i. Sensor, consisting of five autonomous sensor sub-systems: visual, acoustic, tactile, thermal and inertial; ii. Sensor fusion that comprise all the robot stimulus ...

A floorplan is a rectangle subdivided into smaller rectangular blocks by horizontal and vertical line segments. Two floorplans are considered equivalent if and only if there is a bijection between the blocks in the two floorplans such that the corresponding blocks have the same horizontal and vertical boundaries. Mosaic floorplans use the same objects as floorplans but use an alternative defini...

Abstract: In this paper, a prototype Cartesian Parallel Manipulator (CPM) is demonstrated, in which a moving platform is connected to a fixed frame by three PRRR limbs. Due to the orthogonal arrangement of the three prismatic joints, it behaves like a conventional X-Y-Z Cartesian robot. However, because all the linear actuators are mounted at the fixed frame, the manipulator may be suitable for...

This paper describes fundamental principles for two dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these devices – are introduced. Modular connection strategies are also introduced as a method to overcome the...

We introduce a low-dimensional kinematic abstraction—i.e., template—for miniature legged robots that can be used for quasi-static motion planning in the horizontal plane. The template comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized by the leg touchdown an...

In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...