A distributed mobile robot software application infrastructure is developed, improving integration and leverage between projects in a research environment. The resulting design includes a three layer CORBA based, service broker application architecture. A reference implementation and tests on B21r, LEGO Mindstorm and Khepera robots demonstrate the feasibility of the design.

In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...

Robot soccer is a standard problem used in Artiicial Intelligence for research on cooperating autonomous robots. This paper shows that simulation of robot soccer also is an excellent application for studying interactive and collaborative visualization. We have implemented a prototype robot soccer application that simulates a soccer match in real time and allows humans to interact with it in var...

Whilst Polyomino tiling theory has been extensively studied as a branch of research in mathematics, its application has been largely confined to multimedia, graphics and gaming domains. In this paper, we present a novel application of Tromino tiling theory, a class of Polyomino with three cells in the context of a reconfigurable floor cleaning robot, hTromo. The developed robot platform is able...

Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of Computer-Assisted Medical Interventions, its aims, its different components and describes the place of robots in that context. The evolutions in terms of general design a...

Detection and removal of antipersonnel landmines is a serious problem of today. There is a dire need for low-cost mobile robots for the purpose of mine detection and disposal. A de-mining mobile robot has to be cost effective compared to local labor costs. Presently commercially available mobile robots consist of mainly custom made parts. The design and manufacturing of such parts make the robo...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

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...

Robots emerge from simple working machines to more and more complex systems. Current systems are equipped with sophisticated learning techniques to enhance their application domain in a dynamic way. Robots are no longer limited to domains that are hazardous for human beings. Their power and diversity allows them to perform tasks which are impossible for humans. Further, inconvenient tasks can b...

In industrial manufacturing rigorous testing is used to ensure that the delivered products meet their specifications. Mechanical maladjustment or faults often show their presence through abnormal acoustic signals. This is the same case in robot assembly the application domain addressed in this paper. Manual diagnosis based on sound requires extensive experience, and usually such experience is a...