The Mental Image Directed Semantic Theory (MIDST) has proposed an omnisensory mental image model and its description language Lmd intended to facilitate intuitive human-system interaction such that happens between non-expert people and home robots. The most remarkable feature of Lmd is its capability of formalizing both temporal and spatial event concepts on the level of human/robotic sensation...

This paper presents a micro-sized self-reconfigurable modular robotic system using shape memory alloy (SMA) actuators. Composed of identical robotic modules, the system can actively configure various structures. The motion of module is based on two-dimensional rotation by using an actuator mechanism with two SMA torsion coil springs. The micro-sized module measures 2cm cube and weighs 15g, half...

Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...

Urban search and rescue (USAR) robots have the potential of identifying the location of trapped people following a disaster. The majority of survivors in open spaces will be rapidly located and extracted by rescue personnel. Therefore, the greatest challenge for rescue robotics is to penetrate deep within collapsed buildings to search for survivors. In this paper, several robotic challenges are...

This paper presents the design and analysis of a reduced degree-of-freedom Robotic Modular Leg (RML) mechanism used to construct a quadruped robot. This mechanism enables the robot to perform forward and steering locomotion with fewer actuators than conventional quadruped robots. The RML is composed of a double four-bar mechanism that maintains foot orientation parallel to the base and decouple...

Although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. Today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...

It is well known that robotic manipulators are highly nonlinear coupling dynamic systems. It is difficult to establish an appropriate mathematical model for designing a model-based controller. The model-free feature of fuzzy logic control strategy was employed to design robotic motion controller. However, there is no guide rule for designing the fuzzy rule bank and parameters, it still needs ti...

Robotic urological surgery is being increasingly performed worldwide. The main focus currently is on the operative technique but post operative patient care is an essential part of the process to make this technique safe and successful. We present a review on multiple analgesic techniques available to prevent and treat pain specifically caused after by urological robotic surgery; this article w...

Recent demands in robotics accelerated the growth of high precision technology using parallel mechanism in various applications such as medicine, environmental investigations, industry, inteligent systems etc. Maintaining the desired dynamic behavior of systems in the face of perturbations and other uncertainties has become the ultimate goal in stability of robotic systems, [1]. In some robotic...