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...

Robotic arm has been widely used in many applications, especially industry. With this kind of advancement, the needs to introduce technology students at early age increased. However, still consider as something out reach. This project aims create a very simple robotic using servo motor and materials which can be easily obtained around household. The resulting robot is also programmable electron...

It is evident that industrial robots are able to generate forces high enough to injure a human. To prevent this, robots have to work within a restricted space that includes the entire region reachable by any part of the robot. However, more and more robot applications require human intervention due to superior abilities for some tasks performance. In this paper we introduce danger/safety indice...

Due to the lack of commercially available humanoid robots, multi-agent research with real humanoid robots was not feasible so far. While quite a number of research labs construct their own humanoids and it is likely that some advanced humanoid robots will be commercially available in the near future, the high costs involved will make multi-robot experiments at least difficult. For these reasons...

An autonomous robot is a programmable and multi-functional machine, able to extract information from its surrounding using different kinds of sensors to plan and execute collision free motions within its environment without human intervention. Navigation is a crucial issue for robots that claim to be mobile. A navigation system can be divided into two layers: High level global planning and Low-...

Navigation and obstacle avoidance are some of the important tasks or mission deployed and accomplished by an autonomous mobile robot. This paper presents the designed obstacle avoidance program for mobile robot that incorporates a neuro-fuzzy algorithm using Altera Field Programmable Gate Array (FPGA) development board. To generate collisionfree path for mobile robot, a proper motion planning i...

The paper describes a real-time library providing facilities useful in the design of robot control architectures. The library supports structured creation of reactive and deliberative modules, dynamic modiication of relevant real-time parameters, generation of timing fault handlers , measurement and monitoring of execution times. This support enables adaptation of the rate of computation of rea...

This thesis presents a hierarchical control algorithm for quadrupedal locomotion. We address three challenges in developing a controller for high-speed running: locomotion stability, control of ground reaction force, and coordination of four limbs. To tackle these challenges, the proposed algorithm employs three strategies. Leg impedance control provides programmable virtual compliance of each ...