quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

Path planning related to mobile robots is the construction of the collision free trajectories that direct robots towards their goal. In this paper, a bio inspired approach based on the foraging behaviour of the bacteria (E-coli) has been proposed to design an optimal path for the robot. The present approach admires that the mobile robot is capable of reaching the goal by following the optimum p...

We present an approach for solving the path planning problem for a mobile robot operating in an unknown, three dimensional environment containing obstacles of arbitrary shape. The main contributions of this paper are (1) an analysis of the type of sensing information that is necessary and sufficient for solving the path planning problem in such environments, and (2) the development of a framewo...

In order to further improve the ability of global path planning of coal mine rescue robot in the complex environment, a bacterial foraging algorithm-based polyclonal selection algorithm (BFA-PSA) is proposed. In order to verify the superiority of the BFA-PSA, the proposed algorithm is tested by traveling salesman problem (TSP) and compared with genetic algorithm (GA) and clonal selection algori...

A hierarchical robot navigation system has been developed and implemented on a range of real and simulated mobile robots for two independent research applications. One application is a study on emotion-modulated navigation. The other is an investigation of heterogeneous multi-robot navigation. The navigation framework shared by the various implementations is described. A multi-layered architect...

Because traditional obstacle avoidance path planning methods have a lot of problems, such as large amount of calculation, low efficiency, poor optimization capability, and lack of dealing with dynamic obstacles, a new method which implements real-time path planning of mobile robot is presented. The method builds a neural network model for the robot workspace, and then it uses the model to obtai...

In this paper, path planning of wheeled mobile robots is investigated in presence of environmental obstacles based on potential field method. To do this, nonlinear dynamic equations of the mobile robot are derived with the respect of its nonholonomic constraints. To avoid the obstacles during the robot’s motion, repulsive potential functions are used. By implementation of potential field method...

This paper describes the integration of robot path-planning and spatial task modeling into a software system that teaches the operation of a robot manipulator deployed on International Space Station (ISS). The system addresses the complexity of the manipulator, the limited direct view of the ISS exterior, and the unpredictability of lighting conditions in the workspace. Robot path planning is u...

The paper presents a path planning algorithm for a non-circular shaped mobile robot to autonomously navigate in an unknown area for humanitarian demining. For that purpose the path planning problem comes down to planning a path from some starting location to a final location in an area so that the robot covers all the reachable positions in the area while following the planned path. Based on ou...

In recent papers we proposed a novel approach for mobile robot localization based on set theoretic methods. In this paper we complete this set-based approach by introducing a novel set-based mobile robot path planning algorithm, which can handle the outputs of the set-based localization. In opposite to most known path planning algorithms the approach considers not only kinematic and dynamic con...