This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...

Soft robots demonstrate an impressive ability to adapt objects and environments. However, current soft mobile often use a single mode of movement. This gives good locomotion performance in specific environments but poor others. In this paper, we propose leg–wheel mechanism inspired by bacterial flagella it design robot. employs tendon-driven continuum structure replicate the flagellar filaments...

Locomotive robots based on tensegrities have recently drawn much attention from various communities. A common strategy to realize long-distance locomotion is combining several basic gaits that are designed in advance. Considering the unavoidable uncertainties of environment and real locomotive system, selecting with high robustness essential implementation tensegrity robots. However, no quantit...

The bouncing gaits of terrestrial animals (hopping, running, trotting) can be modeled as a hybrid dynamic system, with spring-mass dynamics during stance and ballistic motion during the aerial phase. We used a simple hopping robot controlled by an artificial neural oscillator to test the ability of the neural oscillator to adaptively drive this hybrid dynamic system. The robot had a single join...

1. Motivation Legged robots will need to be fast, robust and efficient for real world applications. In this research, we aim to design a high speed bipedal running robot on 3D environments based on active tail stabilization method, Raptor 2 robot. 2. State of the Art Many legged robots have been studied and developed so far, but only a few robots have achieved stable fast legged locomotion. In ...

in this paper, a new online robot motion planner is developed for systematically exploring unknown environâ¬ments by intelligent mobile robots in real-time applications. the algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. it does so by online calculation of the generalized voronoi graph (gvg) of the free space, and utilizing a combination of depth-first an...

Recently, the development of agile-legged robots that mimic structures and functions biological muscles tendons quadruped mammals has attracted significant attention. The driving force elastic can help improve performances these robots. Thus far, most have been developed based on muscle-tendon complex lower legs. However, some a larger upper legs, which contributes significantly to agile moveme...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...