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...

This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...

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...

Human Robot Interaction (HRI) is being highlighted since the applications of robots has been extended from industry to a common human environment. The main objective of HRI is delivering an operator’s intention to a robot and the state of the robot to the operator. To deliver human intention to robot, various kinds of methods can be used such as dedicated input devices, gesture, voice, and touc...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

The task of planning trajectories plays an important role in transportation, robotics, information systems (sending messages), etc. In robot motion planning, the robot should pass around obstacles from a given starting position to a given target position, touching none of them, i.e. the goal is to find a collision-free path from the starting to the target position. Research on path planning has...

In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used water quality monitoring in distribution systems (WDS). The proposed synchronizes a wireless communication suitable harsh environments of soil, water, and rock with multi-phase control algorithm. new “wireless algorithm” facilitates “smart navigation” “near real-time data transmissi...

In learning tasks, interaction is mostly about the exchange of knowledge. The interaction process shall be governed on the one hand by the knowledge the tutor wants to convey and on the other by the lacks of knowledge of the learner. In human-robot interaction (HRI), it is usually the human demonstrating or explicitly verbalizing her knowledge and the robot acquiring a respective representation...

Tracking moving obstacles from a moving platform is a useful skill for the coming generation of mobile robot. The methods used in existing moving objects tracking that operated from fixed platform and fixed background, are not applicable. Instead, we propose a system that detects unexpected moving obstacles that appear in the path of mobile robot. The system is designed to track and determine t...