A Capsubot, which consists of three parts, the inner body, the capsule shell, and the driving mechanism, is a micro capsule robot with no legs and no wheels, and is driven by the interactive propulsion between the inner body and the capsule shell. The desired locomotion of the Capsubot is generated by making the inner body track a designed trajectory repeatedly. Due to the nature of repetitive ...

A capsule robot that moves utilizing the internal force between the shell and the sliding mass and the friction between the shell and the environment is named “internal force-static friction” capsubot. The new driving mode is used in the active gastrointestinal examination robot system, which is a novel and meaningful attempt. In this paper, for the operation mechanism and movement characterist...

The existing modeling methods using Petri Nets‎, ‎have been successfully applied to model and analyze dynamic systems‎. ‎However‎, ‎these methods are not capable of modeling all dynamic systems such as systems with the current sample time signals‎, ‎systems including various subsystems and multi-mode systems‎. ‎This paper proposes Hybrid Time Delay Petri Nets (HTDPN) to solve the problem‎. ‎In ...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

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 project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

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...