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...

We present a novel algorithm to extract height ordering information for points relative to the ground plane. The ordering of scene points is obtained by exploiting the idea of linearly invariant representation of space points, image points, and the optical center of the camera, from which we derive a measure that is monotonic with respect to the height of points relative to the ground plane. We...

The well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulat...

The paper deals with the problem of computing a path for an autonomous mobile robot, provided by a stereovosion camera, trough obstacles in an unknown environment with rough ground. The planner makes use of a 3D map reporting the presence and the highness of obstacles together with the shape of the ground and its discontinuities, under the hypothesis of stationarity. A local solution, with an e...

How to divide floor plans or navigation maps into a semantic representation, such as rooms and corridors, is an important research question in fields such as human-robot interaction, place categorization, or semantic mapping. While most algorithms focus on segmenting robot built maps, those are not the only types of map a robot, or its user, can use. We have developed a method for segmenting ma...

This paper aims to democratize the design and fabrication of robots, enabling people of all skill levels to make robots without needing expert domain knowledge. Existing work in computational design and rapid fabrication has explored this question of customization for physical objects but so far has not been able to conquer the complexity of robot designs. We have developed Interactive Robogami...

Consideration of dataset design, collection and distribution methodology is becoming increasingly important as robots move out of fully controlled settings, such as assembly lines, and into unstructured environments. Extensive knowledge bases and datasets will potentially offer a means of coping with the variability inherent in the real world. In this study, we introduce three new datasets rela...

This paper describes a methodology for autonomous robot navigation, based on log-polar transform of images and optical flow. The navigation task for robots involves the detection of obstacles in the traversable path. This is considered as basic capability for mobility that includes the measurement of the height of objects to classify them as to be avoided or to be ignored. The vanishing point i...