To the best of authors’ knowledge there is no work done on ring exercises, though various studies are found on horizontal bar exercises. The ring exercises have the characteristics that the apparatus can move in all directions freely unlike the horizontal bar exercises with the constraint between hands and the horizontal bar. If the robot that performs rings is realized practically by clarifyin...

Self-localization as precondition for goal-oriented behavior is a fundamental property an autonomous mobile robot needs to be equipped with. This paper addresses the self-localization problem from a pragmatical point of view since it argues for using passive artificial landmarks in order to support mobile robot localization in indoor environments. The idea is to further improve already existing...

In the present work, graphical enumeration technique is applied for structural synthesis of mechanically constrained planar parallel robot formed by single loop 6bar chain or two 3R chains. Two RR chains are added to the considered system to mechanically constraint the movement of its end-effector. Structural code has been proposed as a new systematic methodology to detect isomorphic graphs. Th...

A microsurgical telerobot system has been developed based on the results of the operation task analysis. The telerobot system is composed of a 6-dof parallel micromanipulator attached to the macro-motion industrial robot, and a 6-dof force-reflecting haptic master device. The master device is using five-bar parallel mechanisms driven by harmonic DC servomotors. The proposed 6-dof master hand co...

The work presented here is a nonlinear approach for the control and stability analysis of manipulative systems in compliant maneuvers. Stability of the environment and the manipulator taken as a whole has been investigated using unstructured models for the dynamic behavior of the robot manipulator and the environment, and a bound for stable manipulation has been derived. We show that for stabil...

Abstract Inspired by the jumping action of frogs, the mechanical structure of four-legs jumping robot is given particularly. This robot is used for the rough terrains or wetland environmental exploration. The four identical legs are mainly composed of a six-bar spring/linkage mechanism integrated with two springs. The D-H parameters, the forward kinematics equation and mechanics analysis on one...

This paper proposes a method to autonomously extract stable visual landmarks from sensory data. Given a 2D occupancy map, a mobile robot rst extracts vertical line features which are distinct and on vertical planar surfaces, because they are expected to be observed reliably from various viewpoints. Since the feature information such as the position and the length includes uncertainties due to e...

This paper presents the design, analysis, and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees-of-freedom in movement and flexible design. However, to t...