Palpation process using elastography has been studied for malign tissue localization. This technique has been applied in ultrasound and magnetic resonance imaging modalities. However, the ultrasound features make it suitable for roboticassisted systems in real-time [1], [2], [3]. The basic principle of ultrasound elastography is based on quasi-static mechanic compression of a target tissue with...

Snake venoms are complex mixtures of biologically active proteins and peptides. Many affect haemostasis by activating or inhibiting coagulant factors or platelets, or by disrupting endothelium. Snake venom components are classified into various families, such as serine proteases, metalloproteinases, C-type lectin-like proteins, disintegrins and phospholipases. Snake venom C-type lectin-like pro...

In this paper we examine locomotion in the context of self-reconfigurable robots. Self-reconfigurable robots are robots built from many connected modules. A selfreconfigurable robot can change its shape and configuration by changing the way these modules are connected. The focus of this paper is to understand how several locomotion gaits can be represented in such a robot and how the robot can ...

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...

This paper presents the control software for the GMDSnake, a highly flexible robot prototype. The GMD-Snake is a configurable robot consisting of a number a equal sections, physically plugged together and electrically connected via an industrial field bus (CAN-bus). Its control software can be seen as individual tools supporting the design and implementation of dynamic distributed real-time app...