Applied Mechanics and Materials Vols. 373-375

Abstract: Robotic path planning algorithm is an important research content of optimization. The improved path planning algorithm, based on distance measurement, use the feature vector for obtaining the location and for identifies different distances in search space. In order to improve the efficient of collision detection, the earth feature vector and taboo search theory were used as tools, combined with partial matching tech and fuzzy logic could get faster and more accurate outcomes than the algorithm only use fuzzy logic.

Abstract: Rate of convergence to the desired pose to grasp an object using visual information may be important in some applications, such as a pick and place routine in assembly where the time between two stops of the conveyor is very short. The visually guided robot is required to move fast if vision is to bring the sought benefits to industrial setups. In this paper, the three most famous techniques to visual servoing, mainly the image-based, position-based and hybrid visual servoing are evaluated in terms of their speed of convergence to the grasping pose in a pick and place task of a momentarily motionless target. An alternative open-loop near-minimum time approach is also presented and tested on a 5DOF under-actuated robotic arm. The performance is compared and result shows significant reduction for its time of convergence, to the aforementioned techniques.

Abstract: This paper studied the human-computer interaction for intelligent service robot system, and analyzed the human-computer interaction mode, human-computer function allocation and the robots intelligence. Combined with the specific case of the welcome robot, we described the construction of the intelligent service robot interaction system.

Abstract: Due to the advantages of strong bearing capacity, compact structure and large working space, cable-driven camera robots are being used increasingly. This paper focuses on the design and implementation method of the control device for a four-cable-driven camera robot. Firstly, a kinematics model is built and the variations of the cable lengths are analyzed along with the camera robot motion; then, the console and actuator of the camera robot are designed; again, PC software transferring command codes from the camera robot console to the actuator and displaying camera robot motion state is developed; finally, the stability and rationality of the control device are verified by the experiment.

Abstract: In this paper, a new robust trajectory tracking control scheme for wheeled mobile robots without velocity measurement is proposed. In the proposed controller, the velocity observer is used to estimate the velocity of wheeled mobile robot. The dynamics of wheeled mobile robot is considered to develop the controller. The proposed controller has the following features: i) The proposed controller has good robustness performance; ii) It is easy to improve tracking performance by setting only one design parameters.

Abstract: This work addresses a new probabilistic observation model for a stereo simultaneous localization and mapping (SLAM) system within the standard Extended-Kalman filter (EKF) framework. The observation modal was derived by using the inverse depth parameterization as the landmark modal, and contributes to both bearing and range information into the EKF estimation. In this way the inherently non-linear problem cause by the projection equations is resolved and real depth uncertainty distribution of landmarks features can be accurately estimated. The system was demonstrated with real-world outdoor data. Analysis results show landmark feature depth estimation is more stable and the uncertainty noise converges faster than the traditional approach.

Abstract: The main objective of this paper is to simulate the mobility of humanoid robot. Simulation method implemented by using RecurDyn, one can analyze the kinematics and dynamics of BIOLOID humanoid robot. Moreover, the analysis of mobility will be discussed. In this paper, the Zero-Moment Point and Forward Dynamics methods are also introduced to the dynamic analysis of humanoid robot. Finally, the simulation results show that the algorithms developed in this paper can efficiently enhance the stability of the humanoid robot.

Abstract: Developing algorithms that allow robots to independently navigate unknown environments is a widely researched area of robotics. The potential for autonomous mobile robots use, in industrial and military applications, is boundless. Path planning entails computing a collision free path from a robots current position to a desired target. The problem of path planning for these robots remains underdeveloped. Computational complexity, path optimization and robustness are some of the issues that arise. Current algorithms do not generate general solutions for different situations and require user experience and optimization. Classical algorithms are computationally extensive. This reduces the possibility of their use in real time applications. Additionally, classical algorithms do not allow for any control over attributes of the generated path. A new roadmap path planning algorithm is proposed in this paper. This method generates waypoints, through which the robot can avoid obstacles and reach its goal. At the heart of this algorithm is a method to control the distance of the waypoints from obstacles, without increasing its computational complexity. Several simulations were run to illustrate the robustness and adaptability of this approach, compared to the most commonly used path planning methods.

Abstract: A learning model based on the operant conditioning mechanism (OCLM) is presented in this paper to deal with the autonomous learning problem in cognitive robotics. The model is described by 9 elements, including the space set, the action set, the bionic learning function and the system entropy etc. To describe the learning mechanism which is the core of the model, a new notion negative ideal degree(NID) is defined. We also prove the convergence of OCLM to indicate that the model is a self-organization system. OCLM has been applied to simulating the Skinner rat experiment. The results show that this model can well simulate the animals operant conditioning behavior, acquire the cognitive skills through the interaction with the environment and achieve self-learning and self-adaptability.

Abstract: A biped robot is designed to simulate the water running function of the basilisk lizard. The propulsion mechanism and the control system of the robot are studied. Based on the water running process of the lizard, the changed Watt-I planar linkages are developed to provide the lifting and propulsion forces to run on water. On the basis of the movement equations of the four-bar mechanism and the coordinate transformation equations, the double bar Assur Group movement trajectories of the linkages are deduced to simulate the foot trajectories of the lizard. According to the kinematics principle of the planar four-bar linkage, we have studied the kinematics parameters of the Watt-I linkage, which are the basis of the manufacturing of the prototype. The real prototype of the robot is manufactured to test its function of water running. The lifting and propulsion force generated by the mechanism is similar with the basilisk lizard, whose value is about 1.3N. The experiment results show that the propulsion mechanism can satisfy the requirement of biped robot running on water.