Papers by Author: Mircea Nitulescu

Abstract: In this paper the authors present a software platform made using Matlab for studying hexapod robot stability in gravitational field and some basic locomotion simulations over obstacles. For the proposed design of the leg was calculated the kinematical model and a workspace analysis was made. The trajectory generator for the leg tip was implemented using piecewise cubic spline interpolation method. Next are presented the most common types of obstacles and the influence upon robot locomotion. The analysis of the robot static stability is made for different cases of loco-motion. The paper includes some simulation results related to the static gravitational stability de-pending on the support polygon, single leg control and locomotion over common types of obstacles.

Abstract: We present in this paper several ideas about the usability of the robotic arms and mobile robots as an assistive technology in a smart house where people with disabilities daily live. First, psychological and social aspects of smart home technology are presented and after that the modularity and standardization processes are discussed. Next we propose a smart house plan, equipped with a mobile robot which has a manipulator arm. This robotic system is used to help vulnerable persons, the handicapped men vehicle seat being equipped with a robotic arm which can manipulate objects by a hyper-redundant gripper. For the control of the processes in the smart house, we propose a hierarchical control system and for the mobile robot we use the artificial potential field method. Also, this paper points out the edutainment concept (EDUcation and enterTAINMENT) by robotics. Finally, some applications are presented.