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...

Locomotion and navigation of a surface walking/climbing robot – Planar Walker, based on a novel planar 8-bar mechanism are studied. The robot moves on a surface through decoupled transverse gaits and turning gaits with finite lengths and finite rotation angles. Motions of the gaits are modeled using planar rigid motion group SE(2). Three point-topoint navigation methods are developed for variou...

In this invited paper we describe a competition that aims to engage a wide section of society in the exploration of the future nature of technology. In particular the competition will examine one of the most controversial aspects of Artificial Intelligence, specifically the concept of freewill. What is freewill? Can machines achieve it? What are the consequences for society should that happen? ...

The nearness diagram (ND) navigation method is a reactive navigation method used for obstacle avoidance in which five different robot-environment states are defined and five corresponding actions are designed carefully. In the ND+ navigation method, one more robot-environment state is added and all action equations are reformed to both achieve smoother robot motions and reduce manual parameter ...

Locomotion and navigation of a surface walking/climbing robot – Planar Walker, based on a novel planar 8-bar mechanism are investigated. The robot moves on a surface through decoupled transverse gaits and turning gaits with finite lengths and finite rotation angles. Motions of the gaits are modeled using planar rigid motion group SE(2). Three point-to-point navigation methods are developed for ...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...