because of high speed, efficiency, robustness and flexibility of multi-agent systems, in recent years there has been an increasing interest in the art of these systems. in competitive multi agent systems, a mechanism is required via which the agents can come to reach an agreement.  contract net protocols are one of the well-known negotiation protocols in multi-agent systems. in contract net pro...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

Continuum and soft robots can leverage complex actuator shapes to take onuseful while actuating only a few of their many degrees freedom. robotsthat alsogrow increasethe range potential that be actuated enable easier access constrained environments. Existing models for describing the kinematics involved in general actuation continuum rely on simulation or well-behaved stress–strain relationship...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

Considerations of energy efficiency and safe human-robot interaction have led to an increase in the exploitation of compliance in robotics, and much of this work has been inspired by biological systems. As a consequence, new analytical tools are now required in order to enable the dynamic analysis of these novel compliant robots, especially in their interactions with the environment. This paper...

This paper presents a miniature wrist that can be integrated into needle-sized surgical instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a single tendon to provide high distal curvature. We derive and experimentally validate kinematic and static models for the wrist and describe several prototype wrists, illustrating the straightforward fabrication a...

The structural organisation at various levels of the tendon hierarchy is important for determining its biomechanical, functional, properties. The intricacies of this organisation, however, are not yet well defined. Developing tendon imaging and concurrent analysis methods are essential for exploring the clinical potential of image-based tendon assessment. This paper demonstrates a multimodal im...

Partial rupture of the distal biceps tendon is a relatively rare event, and various degrees of partial tendon tears have been reported. In the current study four patients with partial atraumatic distal biceps tendon tears (mean age, 59 years; range, 40-82 years) are reported. In all four patients, a common clinical pattern emerged. Pain at the insertion of the distal biceps tendon in the radius...