Applied Mechanics and Materials Vols. 541-542

Abstract: Aiming at the moving requests of the miniature mobile vehicle under the environment of indoors and outdoors, A small track-wheel-legged mobile vehicle was developed in this paper. Many desired locomotion modes such as wheeled, tracked and legged locomotion can be realized by utilizing its independently actuated arms up and down. In order to have good adaptability, high maneuverability of obstacle negotiation and high locomotion security, the kinematic modelling was described, kinematic equations were derived, and optimization control was realized based on the analysis of the stability characteristics with wheel-legged locomotion, which can realize the posture control of mobile vehicle, so that the vehicle has the abilities of maintaining relatively stability of the body over uneven ground,. and these abilities are of great significance to stable operation and vision control of the vehicle.

Abstract: The control of autonomous mobile robot in an unknown environments include many challenge. Fuzzy logic controller is one of the useful tool in this field. Performance of fuzzy logic controlling depends on the membership function, so the membership function adjusting is a time consuming process. In this paper, we optimized a fuzzy logic controller (Fuzzy) by automatic adjusting the membership function using a particle swarm optimization (PSO). The proposed method (PSO-Fuzzy) is implemented and compared with Fuzzy using Khepera simulator. Moreover, the performance of these approaches compared through experiments using a real Khepera III platform.

Abstract: This paper was concerned with the fault diagnosis method based on the second-order sliding mode observer (SOSMO) for reconfigurable modular robot systems with joint friction. The residual signal between given threshold and output of the SOSMO are utilized to directly and effectively detect the fault of reconfigurable modular robot. The stability of the SOSMO is proved by using Lyapunov stability theory. In order to demonstrate the effectiveness of the proposed method, two different 2-DOF reconfigurable modular robots are employed for simulation.

Abstract: This paper mainly describes the development work of the Li-Ion battery sorting equipment based on the Delta-S parallel robot to satisfy the manufacturing requirements. The system functional requirements are analyzed to determine the general framework of the equipment. The parallel robot is detailed designed as the core part. The 3-4-5 times polynomial motion law is adopted to optimize the motion of Delta-S parallel robot. Additionally, the control system based on PLC assisted with motion control module is proposed to realize automation production. The experimental results show that this equipment can meet the needs for sorting efficiency of battery industry, and will have a significant effect on the application of original technology of parallel robot.

Abstract: In order to solve the problem of the dynamic obstacle avoidance of the mobile robot in indoor environment, a new approach based on depth information is presented in this paper. The depth information of surrounding environment was collected and used to set the robots obstacle avoidance warning area by a Kinect sensor. When the moving obstacle accessed into the warning area, the robots obstacle avoidance direction was determined preliminary by the obstacles position, and then an improved Kalman filter algorithm was used to optimize the avoidance path. Experiments show that this approach can overcome the potential problem of path selection, and realize the mobile robot obstacle avoidance behavior in the dynamic environment.

Abstract: The study of biped robot has long history and continuation. One of important moving processes is walking procedure. The walking posture is an important research field that always adapts and implements in the biped robot. The walking research field is very interesting because the walking posture of humans is flexible and stable. Additionally, the force that affect on the humans foot is also investigated. This research addresses the walking simulation of small biped robots that have tiptoe and bigtoe. The study based on the assumption that the bigtoe size affects on the walking posture and walking distance. The gait generation method, for finding the proper size of bigtoe, is utilized by varying the bigtoe size. There are two requirements of robot design: go straight and stay within setting conditions. The simulation results of all small biped robot models which have the different bigtoe sizes can walk within setting conditions. There is only one model its bigtoe width per foot width ratio equals 0.28 (or 28% of foot width) has the longest walking distance. Moreover, this ratio is equal to the ratio of humans foot.

Abstract: For the implementation of an idea, it is essential to have a full engineering system design, simulation and analysis. MISTBOY is such a dream-bot which can perform football skills like a human being. This is an on going humanoid robot project, initially having 17 DoF, 55 cm height and 5 kg weight. In this paper, the initial step towards the making of a humanoid robot is discussed and the balancing and structural analysis through mathematical derivation and simulation are also presented here with good result. This paper is focused on forward kinematics, trajectory planning, balancing, force and torque calculation and kick analysis.

Abstract: This paper presents the design and control of a cleaning unit installed on a novel wall-cleaning robot (ROPE RIDE: RObotic Platform Enabling Rope access In Dangerous Environment). The proposed cleaning unit is able to autonomously avoid various obstacles on the wall of a building and also performs cleaning with sufficient contact force. The prototype of a cleaning unit is systematically designed and examined to verify its impedance-controlled cleaning performance.

Abstract: The primary objective of this research involves designing and fabrication of a wireless controlled five-fingered anthropomorphic dexterous robotic arm. Multiple joints are provided in the arms and fingers to mimic a realistic human-like motion. The mechanism is designed with the prime aim of increasing its efficiency in terms of performance, energy consumption and economy while reducing the total system weight. The design is followed up by the fabrication of mechanical sections of the arm and the assembly of the complete system. Finally, interfacing of the robotic arm with an external glove that can be worn by the user to control the arm motion is done through utilization of a wireless medium. The kinematics of the system, the overall mechanism for actuation and spring design for restoring the elements to their original positions are discussed in the paper.

Abstract: In this paper we introduce a new control structure which consists of a PD controller and a Model Reference Adaptive System-based Learning Feed-Forward Controller to a two-link robot manipulator. The proposed approach seeks to benefit the multi-variable control of multi-input multi-output systems with variable parameters, nonlinear behavior, and significant coupling in the system dynamics. Conventionally, the function approximators with standard neural networks were used which enabled to approximate complex non-linear functions. The idea of LFFC is applied but without using the complex neural networks. Instead, we propose to use MRAS-based adaptive components. The well-known Lyapunov approach is used to find stable adaptive laws for the feed-forward parameters in such way that learning converges. The effectiveness of the proposed approach is demonstrated by simulation analysis.