Journal articles: 'Robot Platforms'

1

Li, Yong, Guang Ming Xiong, Peng Liu, Yin Jian Sun, and Jian Wei Gong. "Design of a Multi-P3-AT-Robot Platform Using Ad Hoc Network." Advanced Materials Research 718-720 (July 2013): 2208–13. http://dx.doi.org/10.4028/www.scientific.net/amr.718-720.2208.

Full text

Abstract:

Multi-robot system is one of the important study topics of robotics. Many near field wireless communication technologies are used in different systems nowadays. In this paper, the Zigbee module is chosen as the wireless communication solution for Multi-P3-AT-Robot Platform since it can build the Ad Hoc Network. Tests of the combination of different network topology structure and data sending mode were made using two platforms and three platforms. According to the test results and the application requirement, the star network topology and the broadcasting mode is configured in the Zigbee module which is used to build the Ad hoc network for multi-P3-AT-robot platform. Through the ability of self-organizing network, each platform can realize data interaction with other robots, and task planning & coordination between platforms. Moreover, the communication between each two platforms will not be affected although the connection may change due to the movement of the platform.

APA, Harvard, Vancouver, ISO, and other styles

2

Lehmann, Hagen, Iolanda Iacono, Kerstin Dautenhahn, Patrizia Marti, and Ben Robins. "Robot companions for children with down syndrome." Interaction Studies 15, no. 1 (June 10, 2014): 99–112. http://dx.doi.org/10.1075/is.15.1.04leh.

Full text

Abstract:

We describe an exploratory case study about the applicability of different robotic platforms in an educational context with a child with Down syndrome. The robotic platforms tested are the humanoid robot KASPAR and the mobile robotic platform IROMEC. During the study we observed the effects KASPAR and IROMEC had in helping the child with the development and improvement of her social skills while playing different interactive games with the robots. Conceptually similar play scenarios were performed with both robots and the behaviour of the child was monitored during her interactions with them.

APA, Harvard, Vancouver, ISO, and other styles

3

Yang, Hong’an, Xuefeng Bao, Shaohua Zhang, and Xu Wang. "A Multi-Robot Formation Platform based on an Indoor Global Positioning System." Applied Sciences 9, no. 6 (March 19, 2019): 1165. http://dx.doi.org/10.3390/app9061165.

Full text

Abstract:

Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and low-cost multi-robot formation platform includes the indoor global-positioning system, the multi-robot communication system, and the wheeled mobile robot hardware. For each wheeled mobile robot in our platform, its real-time position information in the centimeter‑level precise is obtained by the Marvelmind Indoor Navigation System and orientation information is obtained by the six-degree-of-freedom gyroscope. The Transmission Control Protocol/Internet Protocol (TCP/IP) wireless communication infrastructure is selected to support the communication among robots and the data collection in the process of experiments. Finally, a set of leader–follower formation experiments are performed by our platform, which include three trajectory tracking experiments of different types and numbers under deterministic environment and a formation-maintaining experiment with external disturbances. The results illustrate that our multi-robot formation platform can be effectively used as a general testbed to evaluate and verify the feasibility and correctness of the theoretical methods in the multi-robot formation. What is more, the proposed simple and general formation platform is beneficial to the development of platforms in the fields of multi-robot coordination, formation control, and search and rescue missions.

APA, Harvard, Vancouver, ISO, and other styles

4

Uslu, Erkan, Furkan Çakmak, Nihal Altuntaş, Salih Marangoz, Mehmet Fatih Amasyalı, and Sırma Yavuz. "An architecture for multi-robot localization and mapping in the Gazebo/Robot Operating System simulation environment." SIMULATION 93, no. 9 (June 6, 2017): 771–80. http://dx.doi.org/10.1177/0037549717710098.

Full text

Abstract:

Robots are an important part of urban search and rescue tasks. World wide attention has been given to developing capable physical platforms that would be beneficial for rescue teams. It is evident that use of multi-robots increases the effectiveness of these systems. The Robot Operating System (ROS) is becoming a standard platform for the robotics research community for both physical robots and simulation environments. Gazebo, with connectivity to the ROS, is a three-dimensional simulation environment that is also becoming a standard. Several simultaneous localization and mapping algorithms are implemented in the ROS; however, there is no multi-robot mapping implementation. In this work, two multi-robot mapping algorithm implementations are presented, namely multi-robot gMapping and multi-robot Hector Mapping. The multi-robot implementations are tested in the Gazebo simulation environment. Also, in order to achieve a more realistic simulation, every incremental robot movement is modeled with rotational and translational noise.

APA, Harvard, Vancouver, ISO, and other styles

5

Rigano, Giuseppe F., Luca Muratore, Arturo Laurenzi, Enrico M. Hoffman, and Nikos G. Tsagarakis. "A mixed real-time robot hardware abstraction layer (R-HAL)." Encyclopedia with Semantic Computing and Robotic Intelligence 02, no. 01 (June 2018): 1850010. http://dx.doi.org/10.1142/s2529737618500107.

Full text

Abstract:

The rapid advances in robotics have recently led to the developments of a wide range of robotic platforms that exhibit significant differences at the hardware components level. Consequently, this poses a significant challenge to robot software developers since they have to know how every hardware device in the robot works to ensure their software’s compatibility when transferring/reusing their code on different robots. In this paper we present a new Robot Hardware Abstraction Layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practice the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware.

APA, Harvard, Vancouver, ISO, and other styles

6

ISHIGURO, HIROSHI, TAKASHI MINATO, YUICHIRO YOSHIKAWA, and MINORU ASADA. "HUMANOID PLATFORMS FOR COGNITIVE DEVELOPMENTAL ROBOTICS." International Journal of Humanoid Robotics 08, no. 03 (September 2011): 391–418. http://dx.doi.org/10.1142/s0219843611002514.

Full text

Abstract:

One of the most promising approaches to understand human cognitive and developmental mechanisms is a synthetic approach using humanoid robots; an approach to understand the human cognitive functions by realizing them with the robots. Humans are so complicated and it is difficult to mimic the well-developed human by robotic technologies. Therefore, it is necessary to understand how humans develop the complicated functions during the developmental process. We may be able to develop infant functions and make them evolve by tracing the human developmental process. This new study requires robot platforms that can mimic various aspects of the human developmental process. This paper introduces a series of robot platforms that we have developed for the studies with the synthetic approach.

APA, Harvard, Vancouver, ISO, and other styles

7

Ku, Hao Hsiang, Tsai Sheng Kao, and Ching Ho Chi. "K-MORE: Design of a Kinect Motion Oriented iRobotics Environment." Applied Mechanics and Materials 597 (July 2014): 401–6. http://dx.doi.org/10.4028/www.scientific.net/amm.597.401.

Full text

Abstract:

Internet and cloud-based robot services have been attractive and developed. Nowadays, how to enhance the controllability of intelligent robots is an important issue for researchers. This study designs a Kinect Motion Oriented Intelligent-Robot Environment, which is called K-MORE. K-MORE is designed for easily controlling intelligent robots, which is composed of Sensing-based Interactive Robot (SIR) service platform and Cloud Environment. K-MORE is based on open service platforms, including Arduinos, Google Android, and Google App Engine (GAE). Robots not only can be controlled by a smartphone but also can be triggered by events via GAE or Ontology Case-based Reasoning (OCBR). Furthermore, users can use a smartphone to control robots. K-MORE is well-integrated with users, intelligent robots, sensors and the cloud environment. Finally, K-MORE can be an inference model for researchers when developing a robotics-based open service platform in the future.

APA, Harvard, Vancouver, ISO, and other styles

8

Kose, Hatice, Neziha Akalin, and Pinar Uluer. "Socially Interactive Robotic Platforms as Sign Language Tutors." International Journal of Humanoid Robotics 11, no. 01 (March 2014): 1450003. http://dx.doi.org/10.1142/s0219843614500030.

Full text

Abstract:

This paper investigates the role of interaction and communication kinesics in human–robot interaction. This study is part of a novel research project on sign language (SL) tutoring through interaction games with humanoid robots. The main goal is to motivate the children with communication problems to understand and imitate the signs implemented by the robot using basic upper torso gestures and sound. We present an empirical and exploratory study investigating the effect of basic nonverbal gestures consisting of hand movements, body and face gestures expressed by a humanoid robot, and having comprehended the word, the participants will give relevant feedback in SL. This way the participant is both a passive observer and an active imitator throughout the learning process in different phases of the game. A five-fingered R3 robot platform and a three-fingered Nao H-25 robot are employed within the games. Vision-, sound-, touch- and motion-based cues are used for multimodal communication between the robot, child and therapist/parent within the study. This paper presents the preliminary results of the proposed game tested with adult participants. The aim is to evaluate the SL learning ability of participants from a robot, and compare different robot platforms within this setup.

APA, Harvard, Vancouver, ISO, and other styles

9

Liekna, Aleksis, and Agris Nikitenko. "Architecture and .NET Implementation of Multi- Robot Management System." Applied Computer Systems 14, no. 1 (June 1, 2013): 59–66. http://dx.doi.org/10.2478/acss-2013-0007.

Full text

Abstract:

Abstract In this paper we propose architecture for a multirobot management system, ways of identifying the implementation challenges and analyzing how to address these challenges by using out-of-the-box features provided by .NET framework. We make a departure from using agent or robot specific development tools in order to take a fresh look at one of the industry leading general purpose development platforms that is .NET framework to analyze its applicability to multi-robot system development. For verification of the proposed ideas in practice, a multi-robot system is implemented using physical iRobot Roomba robots as the robot platform.

APA, Harvard, Vancouver, ISO, and other styles

10

Kalinin, Ya, S. Semenov, N. Surganov, and S. Shabanov. "WHEEL WALKING PLATFORM FOR AGRO-ROBOT." IZVESTIA VOLGOGRAD STATE TECHNICAL UNIVERSITY, no. 3(238) (April 21, 2020): 70–73. http://dx.doi.org/10.35211/1990-5297-2020-3-238-70-73.

Full text

Abstract:

This article is devoted to the study of wheel-walking platforms for solving agricultural problems. First, the tasks of agriculture that robots can solve will be described. Next, the general principles of wheel-walking platforms will be described and their advantages compared to traditional options. The next step will be considered ATHLETE wheel-walking platform. In the final part of the article, a conclusion will be formed.

APA, Harvard, Vancouver, ISO, and other styles

11

Wang, Hongxing, Ruifeng Li, Yunfeng Gao, Chuqing Cao, and Lianzheng Ge. "Comparative study on the redundancy of mobile single- and dual-arm robots." International Journal of Advanced Robotic Systems 13, no. 6 (December 1, 2016): 172988141666678. http://dx.doi.org/10.1177/1729881416666782.

Full text

Abstract:

A whole resolved motion rate control algorithm designed for mobile dual-arm redundant robots is presented in this article. Based on this algorithm, the end-effector movements of the dual arms of the mobile dual-arm redundant robot can be decomposed into the movements of the two driving wheels of the differential driving platform and the movements of the dual-arm each joint of this robot harmoniously. The influence of the redundancies of the single- and dual-arm robots on the operation based on the fixed- and differential-driving platforms, which are then based on the whole resolved motion rate control algorithm, is studied after building their motion models. Some comparisons are made to show the advantages of this algorithm on the entire modeling of the complicated robotic system and the influences of the redundancy. First, the comparison of the simulation results between the fixed single-arm robot and the mobile single-arm robot is presented. Second, a comparison of the simulation results between the mobile single-arm robot and the mobile dual-arm robots is shown. Compared with the mobile single-arm robot and the fixed dual-arm robot based on this algorithm, the mobile dual-arm robot has more redundancy and can simultaneously track and operate different objects. Moreover, the mobile dual-arm redundant robot has better smoothness, more flexibility, larger operational space, and more harmonious cooperation between the two arms and the differential driving platform during the entire mobile operational process.

APA, Harvard, Vancouver, ISO, and other styles

12

Bartnicki, Adam, Piotr Sprawka, and Arkadiusz Rubiec. "Remote Control System for Rescue Robot." Solid State Phenomena 210 (October 2013): 294–300. http://dx.doi.org/10.4028/www.scientific.net/ssp.210.294.

Full text

Abstract:

Unmanned ground platforms are increasingly used to perform tasks under direct threat to the operators life and health. Separating an operator from a controlled machine places high demands to its steering system. The requirement of reliability put to such platforms in terms of potential threats makes their steering systems being very precise controlled and tested at the stage of construction. The key element in the steering process of unmanned ground platforms are surroundings display systems which determine the success of conducting rescue operations. This paper presents an unmanned ground platform controlled by remote operator and describes some of the functionality tests of the remote control system. Keywords: Robot, Remote Control, Vision System, Teleoperation

APA, Harvard, Vancouver, ISO, and other styles

13

Yi, Jae-Bong, Taewoong Kang, Dongwoon Song, and Seung-Joon Yi. "Unified Software Platform for Intelligent Home Service Robots." Applied Sciences 10, no. 17 (August 25, 2020): 5874. http://dx.doi.org/10.3390/app10175874.

Full text

Abstract:

Although the mobile manipulation capability is crucial for a service robot to perform physical work without human support, the long-term autonomous operation of such a mobile manipulation robot in a real environment is still a tremendously difficult task. In this paper, we present a modular, general purpose software framework for intelligent mobile manipulation robots that can interact with humans using complex human speech commands; navigate smoothly in tight indoor spaces; and finally detect and manipulate various household objects and pieces of furniture autonomously. The suggested software framework is designed to be easily transferred to different home service robots, which include the Toyota Human Support Robot (HSR) and our Modular Service Robot-1 (MSR-1) platforms. It has successfully been used to solve various home service tasks at the RoboCup@Home and World Robot Summit international service robot competitions with promising results.

APA, Harvard, Vancouver, ISO, and other styles

14

Yeoh, Chin Ean, and Hak Yi. "Conceptual Design of the Combinable Legged Robot Bio-Inspired by Ants’ Structure." Applied Sciences 11, no. 4 (February 3, 2021): 1379. http://dx.doi.org/10.3390/app11041379.

Full text

Abstract:

This study presents a new combinable multi-legged modular robot that mimics the structures of ants to expand the physical capabilities of the legged robot. To do this, the robot design is focused on exploring a fusion of two robotic platforms, modular and multi-legged, in which both the body frame and the legged structure are designed to be a rectangular prism and a 3-DoF sprawling-type articulated leg structure, respectively. By imitating ants’ claws, the hook-link structure of the robot as the coupling mechanism is proposed. This study includes the platform’s development, and the experimental work on the locomotion in both single and combined modes is carried out. The result of this study proves that mimicking ants’ structure in the proposed robots successfully enhances the capability of the conventional legged robot. It is feasible to use in a multi-robot system to realize ants’ super-organized behavior.

APA, Harvard, Vancouver, ISO, and other styles

15

Akkar, Hanan A. R., and Huthaifa Salman Khairy. "Design of a Field Programmable Gate Array for Swarm Intelligent Controller Based on a Portable Robotic System." Journal of Cases on Information Technology 23, no. 2 (April 2021): 65–75. http://dx.doi.org/10.4018/jcit.20210401.oa6.

Full text

Abstract:

Portable robots are considered an important device in many areas such as in medical, space research, emergency situations, applications, etc. The robots complete tasks efficiently and effectively without any human interaction. The most important advantages of portable robots are their small size and very high speed in problem processing with relatively high accuracy and efficiency compared with constant devices. In this paper, the authors discussed the applications of the robot systems based on swarm intelligent controller and field programmable gate array (FPGA). A component-oriented FPGA design platform is proposed for robot system integration because FPGAs are known to be power-efficient hardware platforms. From the results, they found that FPGA and swarm intelligence are very efficient in robotic systems and used in a wide area of applications.

APA, Harvard, Vancouver, ISO, and other styles

16

Umetani, Tomohiro, Yuya Kondo, and Takuma Tokuda. "Rapid Development of a Mobile Robot for the Nakanoshima Challenge Using a Robot for Intelligent Environments." Journal of Robotics and Mechatronics 32, no. 6 (December 20, 2020): 1211–18. http://dx.doi.org/10.20965/jrm.2020.p1211.

Full text

Abstract:

Automated mobile platforms are commonly used to provide services for people in an intelligent environment. Data on the physical position of personal electronic devices or mobile robots are important for information services and robotic applications. Therefore, automated mobile robots are required to reconstruct location data in surveillance tasks. This paper describes the development of an autonomous mobile robot to achieve tasks in intelligent environments. In particular, the robot constructed route maps in outdoor environments using laser imaging detection and ranging (LiDAR), and RGB-D sensors via simultaneous localization and mapping. The mobile robot system was developed based on a robot operating system (ROS), reusing existing software. The robot participated in the Nakanoshima Challenge, which is an experimental demonstration test of mobile robots in Osaka, Japan. The results of the experiments and outdoor field tests demonstrate the feasibility of the proposed robot system.

APA, Harvard, Vancouver, ISO, and other styles

17

Margaritescu, Mihai, Ana Maria Eulampia Ivan, Vlad Vaduva, and Cornel Brisan. "Extended Mobility Carried Out with a Double Hexapod Robot." Solid State Phenomena 166-167 (September 2010): 271–76. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.271.

Full text

Abstract:

The double hexapod robot consists in two staged hexapod platforms – Stewart Gough platforms - combining in a certain measure the advantages of the robots with parallel kinematics and of the serial robots: high accuracy, high stiffness, fast response and small dimensions, having an extended operating space. Different modelling and construction aspects were described in few previous articles. Some examples of trajectories generated with this positioning system are now presented to illustrate its mobility, as well as the workspaces for one and two hexapods in order to make possible a visual comparison between the two volumes.

APA, Harvard, Vancouver, ISO, and other styles

18

Jánoš, Rudolf, Mikuláš Hajduk, Ján Semjon, and Ľuboslava Šidlovská. "Design of Hybrid Mobile Service Robot." Applied Mechanics and Materials 245 (December 2012): 255–60. http://dx.doi.org/10.4028/www.scientific.net/amm.245.255.

Full text

Abstract:

Wheels and legs are two widely accepted methodology used to move the moving platform to the ground. Wheels are human inventions, the rolls in a straight country excel in energy efficiency and speed of movement. Hybrid platform for integrating the benefits of legs and wheels with high mobility of both seems to be the "future" of mobile platforms for indoor and outdoor environment. This paper describes the design leg-wheel chassis for service robot.

APA, Harvard, Vancouver, ISO, and other styles

19

Chioreanu, Adrian, Stelian Brad, and Cosmin Ioanes. "Vision on Intelligent Management of Industrial Robotics Systems." Applied Mechanics and Materials 162 (March 2012): 368–77. http://dx.doi.org/10.4028/www.scientific.net/amm.162.368.

Full text

Abstract:

Based on Future Internet and ITIL, cutting edge concepts and approaches related to software service systems in distributed architectures for managing information and processes in industrial robot platforms are introduced. A new approach in defining the business relation for entities that have various interests related to industrial robots, as well as tools that support the new business approach are also identified in this paper. Further the architecture of a prototype platform designed around those concepts is presented.

APA, Harvard, Vancouver, ISO, and other styles

20

Miyake, Norihisa. "Platforms for research and development. Development Platform for Industrial Robot Controllers." Journal of the Robotics Society of Japan 14, no. 1 (1996): 38–41. http://dx.doi.org/10.7210/jrsj.14.38.

Full text

APA, Harvard, Vancouver, ISO, and other styles

21

Greene, Joseph W. "Web robot detection in scholarly Open Access institutional repositories." Library Hi Tech 34, no. 3 (September 19, 2016): 500–520. http://dx.doi.org/10.1108/lht-04-2016-0048.

Full text

Abstract:

Purpose The purpose of this paper is to investigate the impact and techniques for mitigating the effects of web robots on usage statistics collected by Open Access (OA) institutional repositories (IRs). Design/methodology/approach A close review of the literature provides a comprehensive list of web robot detection techniques. Reviews of system documentation and open source code are carried out along with personal interviews to provide a comparison of the robot detection techniques used in the major IR platforms. An empirical test based on a simple random sample of downloads with 96.20 per cent certainty is undertaken to measure the accuracy of an IR’s web robot detection at a large Irish University. Findings While web robot detection is not ignored in IRs, there are areas where the two main systems could be improved. The technique tested here is found to have successfully detected 94.18 per cent of web robots visiting the site over a two-year period (recall), with a precision of 98.92 per cent. Due to the high level of robot activity in repositories, correctly labelling more robots has an exponential effect on the accuracy of usage statistics. Research limitations/implications This study is performed on one repository using a single system. Future studies across multiple sites and platforms are needed to determine the accuracy of web robot detection in OA repositories generally. Originality/value This is the only study to date to have investigated web robot detection in IRs. It puts forward the first empirical benchmarking of accuracy in IR usage statistics.

APA, Harvard, Vancouver, ISO, and other styles

22

Hirukawa, Hirohisa. "Walking biped humanoids that perform manual labour." Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences 365, no. 1850 (November 17, 2006): 65–77. http://dx.doi.org/10.1098/rsta.2006.1916.

Full text

Abstract:

The Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan realized that biped humanoid robots can perform manual labour. The project developed humanoid robot platforms, consisting of humanoid robot hardware and a package of fundamental software, and explored applications of humanoid robots on them. The applications include maintenance tasks of industrial plants, teleoperation of industrial vehicles, cooperative tasks with a human, guarding the home and office and the care of patients in beds.

APA, Harvard, Vancouver, ISO, and other styles

23

Grigore, Lucian Ștefăniță, Ionica Oncioiu, Iustin Priescu, and Daniela Joița. "Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot." Applied Sciences 11, no. 9 (April 21, 2021): 3757. http://dx.doi.org/10.3390/app11093757.

Full text

Abstract:

Today, terrestrial robots are used in a multitude of fields and for performing multiple missions. This paper introduces the novel development of a family of crawling terrestrial robots capable of changing very quickly depending on the missions they have to perform. The principle of novelty is the use of a load-bearing platform consisting of two independent propulsion systems. The operational platform, which handles the actual mission, is attached (plug and play) between the two crawler propulsion systems. The source of inspiration is the fact that there are a multitude of intervention robots in emergency situations, each independent of the other. In addition to these costs, there are also problems with the specialization of a very large number of staff. The present study focused on the realization of a simplified, modular model of the kinematics and dynamics of the crawler robot, so that it can be easily integrated, by adding or removing the calculation modules, into the software used. The designed model was integrated on a company controller, which allowed us to compare the results obtained by simulation with those obtained experimentally. We appreciate that the analyzed Explosive Ordnance Disposal (EOD) robot solution represents a premise for the development of a family of EOD robots that use the same carrier platform and to which a multitude of operational platforms should be attached, depending on the missions to be performed.

APA, Harvard, Vancouver, ISO, and other styles

24

Prieto, Samuel A., Antonio Adán, Andrés S. Vázquez, and Blanca Quintana. "Passing through Open/Closed Doors: A Solution for 3D Scanning Robots." Sensors 19, no. 21 (October 31, 2019): 4740. http://dx.doi.org/10.3390/s19214740.

Full text

Abstract:

In this article, a traversing door methodology for building scanning mobile platforms is proposed. The problem of passing through open/closed doors entails several actions that can be implemented by processing 3D information provided by dense 3D laser scanners. Our robotized platform, denominated as MoPAD (Mobile Platform for Autonomous Digitization), has been designed to collect dense 3D data and generate basic architectural models of the interiors of buildings. Moreover, the system identifies the doors of the room, recognises their respective states (open, closed or semi-closed) and completes the aforementioned 3D model, which is later integrated into the robot global planning system. This document is mainly focused on describing how the robot navigates towards the exit door and passes to a contiguous room. The steps of approaching, door-handle recognition/positioning and handle–robot arm interaction (in the case of a closed door) are shown in detail. This approach has been tested using our MoPAD platform on the floors of buildings composed of several rooms in the case of open doors. For closed doors, the solution has been formulated, modeled and successfully tested in the Gazebo robot simulation tool by using a 4DOF robot arm on board MoPAD. The excellent results yielded in both cases lead us to believe that our solution could be implemented/adapted to other platforms and robot arms.

APA, Harvard, Vancouver, ISO, and other styles

25

Garg, Gaurav, Vladimir Kuts, and Gholamreza Anbarjafari. "Digital Twin for FANUC Robots: Industrial Robot Programming and Simulation Using Virtual Reality." Sustainability 13, no. 18 (September 16, 2021): 10336. http://dx.doi.org/10.3390/su131810336.

Full text

Abstract:

A Digital Twin is the concept of creating a digital replica of physical models (such as a robot). This is similar to establishing a simulation using a robot operating system (ROS) or other industrial-owned platforms to simulate robot operations and sending the details to the robot controller. In this paper, we propose a Digital Twin model that assists in the online/remote programming of a robotic cell by creating a 3D digital environment of a real-world configuration. Our Digital Twin model consists of two components, (1) a physical model: FANUC robot (M-10iA/12), and (2) a digital model: Unity (a gaming platform) that comes with specialized plugins for virtual and augmented reality devices. One of the main challenges in the existing approach of robot programming is writing and modifying code for a robot trajectory that is eased in our framework using a Digital Twin. Using a Digital Twin setup along with Virtual Reality, we observe the trajectory replication between digital and physical robots. The simulation analysis provided a latency of approximately 40 ms with an error range of −0.28 to 0.28∘ across the robot joint movements in a simulation environment and −0.3 to 0.3∘ across the actual robot joint movements. Therefore, we can conclude that our developed model is suitable for industrial applications.

APA, Harvard, Vancouver, ISO, and other styles

26

Negrean, Iuliu, Claudiu Schonstein, Kalman Kacso, Calin Negrean, and Adina Duca. "Formulations about Dynamics of Mobile Robots." Solid State Phenomena 166-167 (September 2010): 309–14. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.309.

Full text

Abstract:

In this paper the dynamics equations for a mobile robot, named PatrolBot, will be developed, using new concepts in advanced mechanics, based on important scientific researches of the main author, concerning the kinetic energy. In keeping the fact that the mathematical models of the mobile platforms are different besides the other robots types, due to nonholonomic constraints, these dynamic control functions, will be computed, according to these restrictions for robot motion.

APA, Harvard, Vancouver, ISO, and other styles

27

APOSTOLESCU, Nicolae, Ion TOMESCU, Dragos Daniel Ion GUTA, and Radu BOGATEANU. "The autonomous control of landing on mobile platforms." INCAS BULLETIN 13, no. 3 (September 4, 2021): 3–12. http://dx.doi.org/10.13111/2066-8201.2021.13.3.1.

Full text

Abstract:

In this paper, we propose a simulation application that allows an aerial vehicle to land autonomously on a moving platform in the presence of uncertainties and disturbances. We have tested our method with various speeds and positions for the landing platform. In the context of this article, the autonomous control of landing on mobile platforms consists in synchronizing the movement of an aerial vehicle with the movement of the mobile platform. As a first step, the Spacelab INCAS laboratory group has developed an offline simulation application that allows an ABB robot to receive information on the movement of a Stewart-type mobile platform in order to conduct a landing process. The application can initiate a landing process on the mobile platform and guide the vehicle for perfect docking on the platform. Offline simulation allows the study of several scenarios of a robot working cell - the mobile platform before setting up the production cell. The offline application has a distributed client-server structure. The client communicates with the server through specific communication protocols. The client and server can reside on the same computer. The client application is developed in the Matlab environment and has as object the simulation and programming of the PS-6TL-1500 platform; the server one simulates and programs an ABB 7600-500/2.55 robot that moves on the track, in the RAPID language under RobotStudio ABB simulator.

APA, Harvard, Vancouver, ISO, and other styles

28

Looi, Chen Zheng, and Danny Wee Kiat Ng. "A Study on the Effect of Parameters for ROS Motion Planer and Navigation System for Indoor Robot." International Journal of Electrical and Computer Engineering Research 1, no. 1 (June 15, 2021): 29–36. http://dx.doi.org/10.53375/ijecer.2021.21.

Full text

Abstract:

In the past decades, the service robot industry had risen rapidly. The office assistant robot is one type of service robot used to assist officers in an office environment. For the robot to navigate autonomously in the office, navigation algorithms and motion planners were implemented on these robots. Robot Operating System (ROS) is one of the common platforms to develop these robots. The parameters applied to the motion planners will affect the performance of the Robot. In this study, the global planners, A* and Dijkstra algorithm and local planners, Dynamic Window Approach (DWA) and Time Elastic Band (TEB) algorithms were implemented and tested on a robot in simulation and a real environment. Results from the experiments were used to evaluate and compare the performance of the robot with different planners and parameters. Based on the results obtained, the global planners, A* and Dijkstra algorithm both can achieve the required performance for this application whereas TEB outperforms DWA as the local planner due to its feasibility in avoiding dynamic obstacles in the experiments conducted.

APA, Harvard, Vancouver, ISO, and other styles

29

Kaneko, Makoto. "Platforms for research and development. Design and Development of Robot Hand Platform." Journal of the Robotics Society of Japan 14, no. 1 (1996): 30–33. http://dx.doi.org/10.7210/jrsj.14.30.

Full text

APA, Harvard, Vancouver, ISO, and other styles

30

Marchi, Tommaso, Giovanni Mottola, Josep M. Porta, Federico Thomas, and Marco Carricato. "Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector." Machines 9, no. 1 (January 11, 2021): 7. http://dx.doi.org/10.3390/machines9010007.

Full text

Abstract:

Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype.

APA, Harvard, Vancouver, ISO, and other styles

31

Marchi, Tommaso, Giovanni Mottola, Josep M. Porta, Federico Thomas, and Marco Carricato. "Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector." Machines 9, no. 1 (January 11, 2021): 7. http://dx.doi.org/10.3390/machines9010007.

Full text

Abstract:

Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype.

APA, Harvard, Vancouver, ISO, and other styles

32

Chen, Buyun, Hao Yang, Boxiang Song, Deming Meng, Xiaodong Yan, Yuanrui Li, Yunxiang Wang, et al. "A memristor-based hybrid analog-digital computing platform for mobile robotics." Science Robotics 5, no. 47 (October 21, 2020): eabb6938. http://dx.doi.org/10.1126/scirobotics.abb6938.

Full text

Abstract:

Algorithms for mobile robotic systems are generally implemented on purely digital computing platforms. Developing alternative computational platforms may lead to more energy-efficient and responsive mobile robotics. Here, we report a hybrid analog-digital computing platform enabled by memristors on a mobile inverted pendulum robot. Our mobile robotic system can tune the conductance states of memristors adaptively using a model-free optimization method to achieve optimal control performance. We implement sensor fusion and the motion control algorithms on our hybrid analog-digital computing platform and demonstrate more than one order of magnitude enhancement of speed and energy efficiency over traditional digital platforms.

APA, Harvard, Vancouver, ISO, and other styles

33

Kamal, Fayeq, Keith Brown, and Nick Taylor. "Intelligent Agent Integration of On-Board and Off-Board Sensors Systems for Mobile Robot Path Planning." Advanced Materials Research 403-408 (November 2011): 4893–900. http://dx.doi.org/10.4028/www.scientific.net/amr.403-408.4893.

Full text

Abstract:

The paper describes a novel approach of using distributed intelligent agents for the integration on-board and off-board sensors for mobile robot path planning in indoor environments. The system gives the robot a prior knowledge about the path state, which will be taken by the robot during navigating from an initial position to a target point. This enables the robot to intelligently decide in advance which path should be taken before reaching a point where a barrier to progress may have appeared. The system takes advantage of surveillance cameras already in buildings to aid the robot to plan a path. We have built intelligent agent based system that supports controlling the robot efficiently, using cameras available in the building and managing the communication between agents. The multi-agent system architecture includes two platforms, each platform consist of different agents connected together wirelessly using a JADE middleware platform.

APA, Harvard, Vancouver, ISO, and other styles

34

Semeniuta, Oleksandr, and Petter Falkman. "Event-driven industrial robot control architecture for the Adept V+ platform." PeerJ Computer Science 5 (July 29, 2019): e207. http://dx.doi.org/10.7717/peerj-cs.207.

Full text

Abstract:

Modern industrial robotic systems are highly interconnected. They operate in a distributed environment and communicate with sensors, computer vision systems, mechatronic devices, and computational components. On the fundamental level, communication and coordination between all parties in such distributed system are characterized by discrete event behavior. The latter is largely attributed to the specifics of communication over the network, which, in terms, facilitates asynchronous programming and explicit event handling. In addition, on the conceptual level, events are an important building block for realizing reactivity and coordination. Event-driven architecture has manifested its effectiveness for building loosely-coupled systems based on publish-subscribe middleware, either general-purpose or robotic-oriented. Despite all the advances in middleware, industrial robots remain difficult to program in context of distributed systems, to a large extent due to the limitation of the native robot platforms. This paper proposes an architecture for flexible event-based control of industrial robots based on the Adept V+ platform. The architecture is based on the robot controller providing a TCP/IP server and a collection of robot skills, and a high-level control module deployed to a dedicated computing device. The control module possesses bidirectional communication with the robot controller and publish/subscribe messaging with external systems. It is programmed in asynchronous style using pyadept, a Python library based on Python coroutines, AsyncIO event loop and ZeroMQ middleware. The proposed solution facilitates integration of Adept robots into distributed environments and building more flexible robotic solutions with event-based logic.

APA, Harvard, Vancouver, ISO, and other styles

35

Gallardo-Alvarado, Jaime, Horacio Orozco-Mendoza, and José M. Rico-Martínez. "A novel five-degrees-of-freedom decoupled robot." Robotica 28, no. 6 (December 23, 2009): 909–17. http://dx.doi.org/10.1017/s0263574709990749.

Full text

Abstract:

SUMMARYIn this work a new nonoverconstrained redundant decoupled robot, free of compound joints, formed from three parallel manipulators, with two moving platforms and provided with six active limbs connected to the fixed platform, called LinceJJP, is presented. Interesting applications such as multi-axis machine tools with parallel kinematic architectures, solar panels, radar antennas, and telescopes are available for this novel spatial mechanism.

APA, Harvard, Vancouver, ISO, and other styles

36

Karalekas, Georgios, Stavros Vologiannidis, and John Kalomiros. "EUROPA: A Case Study for Teaching Sensors, Data Acquisition and Robotics via a ROS-Based Educational Robot." Sensors 20, no. 9 (April 27, 2020): 2469. http://dx.doi.org/10.3390/s20092469.

Full text

Abstract:

Robots have become a popular educational tool in secondary education, introducing scientific, technological, engineering and mathematical concepts to students all around the globe. In this paper EUROPA, an extensible, open software and open hardware robotic platform is presented focusing on teaching physics, sensors, data acquisition and robotics. EUROPA’s software infrastructure is based οn Robot Operating System (ROS). It includes easy to use interfaces for robot control and interaction with users and thus can easily be incorporated in Science, Technology, Engineering and Mathematics (STEM) and robotics classes. EUROPA was designed taking into account current trends in educational robotics. An overview of widespread robotic platforms is presented, documenting several critical parameters of interest such as their architecture, sensors, actuators and controllers, their approximate cost, etc. Finally, an introductory STEM curriculum developed for EUROPA and applied in a class of high school students is presented.

APA, Harvard, Vancouver, ISO, and other styles

37

Pearson, Martin J., Ben Mitchinson, J. Charles Sullivan, Anthony G. Pipe, and Tony J. Prescott. "Biomimetic vibrissal sensing for robots." Philosophical Transactions of the Royal Society B: Biological Sciences 366, no. 1581 (November 12, 2011): 3085–96. http://dx.doi.org/10.1098/rstb.2011.0164.

Full text

Abstract:

Active vibrissal touch can be used to replace or to supplement sensory systems such as computer vision and, therefore, improve the sensory capacity of mobile robots. This paper describes how arrays of whisker-like touch sensors have been incorporated onto mobile robot platforms taking inspiration from biology for their morphology and control. There were two motivations for this work: first, to build a physical platform on which to model, and therefore test, recent neuroethological hypotheses about vibrissal touch; second, to exploit the control strategies and morphology observed in the biological analogue to maximize the quality and quantity of tactile sensory information derived from the artificial whisker array. We describe the design of a new whiskered robot, Shrewbot , endowed with a biomimetic array of individually controlled whiskers and a neuroethologically inspired whisking pattern generation mechanism. We then present results showing how the morphology of the whisker array shapes the sensory surface surrounding the robot's head, and demonstrate the impact of active touch control on the sensory information that can be acquired by the robot. We show that adopting bio-inspired, low latency motor control of the rhythmic motion of the whiskers in response to contact-induced stimuli usefully constrains the sensory range, while also maximizing the number of whisker contacts. The robot experiments also demonstrate that the sensory consequences of active touch control can be usefully investigated in biomimetic robots.

APA, Harvard, Vancouver, ISO, and other styles

38

Volkov, I. V., Ya V. Kalinin, N. A. Surganov, and S. N. Shabanov. "OVERVIEW OF DOCKING DEVICES FOR A WHEELED WALKING PLATFORM FOR AGRO-ROBOT." IZVESTIA VOLGOGRAD STATE TECHNICAL UNIVERSITY, no. 1(248) (January 27, 2021): 52–54. http://dx.doi.org/10.35211/1990-5297-2021-1-248-52-54.

Full text

Abstract:

This article is devoted to an overview of docking mechanisms of the wheeled-walking platform for an agro-robot. It describes the advantages of dividing the wheeled-walking platform into two different platforms. An overview of the docking mechanism designs is presented. A table of advantages and disadvantages of each of the docking mechanisms is given.

APA, Harvard, Vancouver, ISO, and other styles

39

Meng, Wei, Zu De Zhou, Quan Liu, and Qing Song Ai. "A Practical Fuzzy Adaptive Control Strategy for Multi-DOF Parallel Robot." Applied Mechanics and Materials 347-350 (August 2013): 661–65. http://dx.doi.org/10.4028/www.scientific.net/amm.347-350.661.

Full text

Abstract:

Multiple Degrees of Freedom (DOF) parallel robots possess the advantages of being compact structure, great stiffness, stability and high accuracy, so such platforms have been widely used in application areas as diverse as the spacecraft motion simulators, radio telescopes, and medical rehabilitation devices. In this paper, after giving a brief review on the control strategies for parallel robot, a 6-DOF robot system for medical purposes based on simulation as well as real environment is established. In order to improve the position tracking accuracy for such objects with time-varying and nonlinear parameters, a practical fuzzy adaptive controller is designed based on the kinematics of parallel platform, where fuzzy inference units are utilized to modify the PID parameters in real-time by using the position feedback from the robot actuators. Finally, both virtual and actual experiment results demonstrate that the proposed algorithm is able to effectively reduce the position tracking errors compared with the traditional PID controller, and the reliability and feasibility of such parallel robotic system can also be guaranteed.

APA, Harvard, Vancouver, ISO, and other styles

40

Bock, Gregory A., Ryan T. Hendrickson, Jared Allen Lamkin, Brittany Dhall, Jing Wang, and In Soo Ahn. "Experimental Validation of Distributed Cooperative Control of Multiple Mobile Robots via Local Information Exchange." International Journal of Handheld Computing Research 8, no. 2 (April 2017): 19–40. http://dx.doi.org/10.4018/ijhcr.2017040102.

Full text

Abstract:

In this paper, we present the experimental testing results of distributed cooperative control algorithms for multiple mobile robots with limited sensing/communication capacity and kinematic constraints. Rendezvous and formation control problems are considered, respectively. To deal with the inherent kinematic constraints with robot model, the input/output linearization via feedback is used to convert the nonlinear robot model into a linear one, and then the distributed cooperative control algorithms are designed via local information exchange among robots. Extensive experiments using Quanser's QBot2 mobile robot platforms are conducted to validate the effectiveness of the proposed distributed cooperative control algorithms. Specifically, the robot's onboard Kinect vision sensor is applied to solve the localization problem, and the information exchange is done through an ad-hoc peer-to-peer wireless TCP/IP connection among neighboring robots. Collision avoidance problem is also addressed based on the utilization of fuzzy logic rules.

APA, Harvard, Vancouver, ISO, and other styles

41

Zhang, Dandan, Junhong Chen, Wei Li, Daniel Bautista Salinas, and Guang-Zhong Yang. "A microsurgical robot research platform for robot-assisted microsurgery research and training." International Journal of Computer Assisted Radiology and Surgery 15, no. 1 (October 11, 2019): 15–25. http://dx.doi.org/10.1007/s11548-019-02074-1.

Full text

Abstract:

Abstract Purpose Ocular surgery, ear, nose and throat surgery and neurosurgery are typical types of microsurgery. A versatile training platform can assist microsurgical skills development and accelerate the uptake of robot-assisted microsurgery (RAMS). However, the currently available platforms are mainly designed for macro-scale minimally invasive surgery. There is a need to develop a dedicated microsurgical robot research platform for both research and clinical training. Methods A microsurgical robot research platform (MRRP) is introduced in this paper. The hardware system includes a slave robot with bimanual manipulators, two master controllers and a vision system. It is flexible to support multiple microsurgical tools. The software architecture is developed based on the robot operating system, which is extensible at high-level control. The selection of master–slave mapping strategy was explored, while comparisons were made between different interfaces. Results Experimental verification was conducted based on two microsurgical tasks for training evaluation, i.e. trajectory following and targeting. User study results indicated that the proposed hybrid interface is more effective than the traditional approach in terms of frequency of clutching, task completion time and ease of control. Conclusion Results indicated that the MRRP can be utilized for microsurgical skills training, since motion kinematic data and vision data can provide objective means of verification and scoring. The proposed system can further be used for verifying high-level control algorithms and task automation for RAMS research.

APA, Harvard, Vancouver, ISO, and other styles

42

Inaba, Masayuki. "Platforms for research and development. Remote-Brained Robot. A Platform in University Education." Journal of the Robotics Society of Japan 14, no. 1 (1996): 10–13. http://dx.doi.org/10.7210/jrsj.14.10.

Full text

APA, Harvard, Vancouver, ISO, and other styles

43

Madhusudanan, Harikrishnan. "Design and Development of Leg-Wheel Hybrid Hexapod along with Machine Learning Algorithm implementation." IAES International Journal of Robotics and Automation (IJRA) 4, no. 4 (December 1, 2015): 262. http://dx.doi.org/10.11591/ijra.v4i4.pp262-268.

Full text

Abstract:

The conventional mobile robotic platforms which either uses wheels or legs are quite familiar and each one of them has its own advantages and disadvantages. The wheeled robot is suitable for only plain and smooth terrain, whereas the legged robot can travel in any kind of terrain but is comparatively slower than the wheeled robot. So, a hybrid of both wheeled and legged platform would be quite suitable for any kind of terrain. The primary focus of this paper is to design and develop a leg-wheel hybrid robotic platform with a concurrent engineering and mechatronics approach to produce results with optimised design metrics at each and every stage of its development. An overall view of the entire mechatronics system is considered for design and development of the robot at each and every stage rather than a sequential engineering approach.

APA, Harvard, Vancouver, ISO, and other styles

44

Vasanth, S., M. Harikrishnan, K. Abbhivignesh, B. Karthikeyan, and M. Vignesh. "Design of Leg Wheel Hybrid Hexapod with C-Leg Analysis." Applied Mechanics and Materials 852 (September 2016): 832–38. http://dx.doi.org/10.4028/www.scientific.net/amm.852.832.

Full text

Abstract:

The conventional mobile robotic platforms which either uses wheels or legs are quite familiar and each one of them has its own advantages and disadvantages. The wheeled robot is suitable for only plain and smooth terrain, whereas the legged robot can travel in any kind of terrain but is comparatively slower than the wheeled robot. So, a hybrid of both wheeled and legged platform would be quite suitable for any kind of terrain. The primary focus of this paper is to design and develop a leg-wheel hybrid robotic platform with a concurrent engineering and mechatronics approach to produce results with optimised design metrics at each and every stage of its development. An overall view of the entire mechatronics system is considered for design and development of the robot at each and every stage rather than a sequential engineering approach. This paper details the Finite Element Analysis (FEA) of the C – Legs which are used in the robot.

APA, Harvard, Vancouver, ISO, and other styles

45

Wang, Wei, Yan Zhuang, and Wei-min Yun. "Innovative control education using a low cost intelligent robot platform." Robotica 21, no. 3 (May 13, 2003): 283–88. http://dx.doi.org/10.1017/s0263574702004782.

Full text

Abstract:

With the fast development of the control theory and engineering, robotics and artificial intelligence have become the focus in the field of intelligent systems. But research in this field is based on a series of experiments and requires various robot platforms which are often unaffordable by the universities in developing countries. The intention of this paper is to present the idea of applying innovative control education and building a laboratory using low cost equipments. In this paper the architecture and control system of a new kind of low cost intelligent robot, “Ability Storm”, is introduced. It not only shows the technical aspect, but also illustrates the related applications in control education. The versatility and effectiveness of this affordable intelligent robot platform are demonstrated through a number of experiments, including both basic laboratory experiments and other innovative project-oriented design, such as robot fire fighting, which clearly show the practicality and robustness of this cost-effective robot platform.

APA, Harvard, Vancouver, ISO, and other styles

46

Choi, Jung Hyun, Kangwagye Samuel, Kanghyun Nam, and Sehoon Oh. "An Autonomous Human Following Caddie Robot with High-Level Driving Functions." Electronics 9, no. 9 (September 15, 2020): 1516. http://dx.doi.org/10.3390/electronics9091516.

Full text

Abstract:

Nowadays, mobile robot platforms are utilized in various fields not only for transportation but also for other diverse services such as industrial, medical and, sports, etc. Mobile robots are also an emerging application as sports field robots, where they can help serve players or even play the games. In this paper, a novel caddie robot which can autonomously follow the golfer as well as provide useful information such as golf course navigation system and weather updates, is introduced. The locomotion of the caddie robot is designed with two modes: autonomous human following mode and manual driving mode. The transition between each mode can be achieved manually or by an algorithm based on the velocity, heading angle, and inclination of the ground surface. Moreover, the transition to manual mode is activated after a caddie robot has recognized the human intention input by hand. In addition, the advanced control algorithm along with a trajectory generator for the caddie robot are developed taking into consideration the locomotion modes. Experimental results show that the proposed strategies to drive various operating modes are efficient and the robot is verified to be utilized in the golf course.

APA, Harvard, Vancouver, ISO, and other styles

47

Dissanayake, Mahesh, Tariq Pervez Sattar, Shehan Lowe, Ivan Pinson, and Tat-hean Gan. "Adaptable legged-magnetic adhesion tracked wheel robotic platform for misaligned mooring chain climbing and inspection." Industrial Robot: An International Journal 45, no. 5 (August 20, 2018): 634–46. http://dx.doi.org/10.1108/ir-04-2018-0074.

Full text

Abstract:

Purpose Mooring chains used to stabilise offshore floating platforms are often subjected to harsh environmental conditions on a daily basis, i.e. high tidal waves, storms, etc. Therefore, the integrity assessment of chain links is vital, and regular inspection is mandatory for offshore structures. The development of chain climbing robots is still in its infancy due to the complicated climbing structure presented by mooring chains. The purpose of this paper is to establish an automated climbing technique for mooring chain inspection. Design/methodology/approach This paper presents a Cartesian legged tracked-wheel crawler robot developed for mooring chain inspection. The proposed robot addresses the misalignment condition of the mooring chains which is commonly evident in in situ conditions. Findings The mooring chain link misalignment is investigated mathematically and used as a design parameter for the proposed robot. The robot is validated with laboratory-based climbing experiments. Practical implications Chain breaking can lead to vessel drift and serious damage such as riser rupture, production shutdown and hydrocarbon release. Currently, structural health monitoring of chain links is conducted using either remotely operated vehicles which come at a high cost or by manual means which increase the danger to human operators. The robot can be used as a platform to convey equipment, i.e. tools for non-destructive testing/evaluation applications. Originality/value This study has upgraded a previously designed magnetic adhesion tracked-wheel mooring chain climbing robot to address the misalignment issues of operational mooring chains. As a result of this study, the idea of an orthogonally placed Cartesian legged-magnetic adhesion tracked wheel robotic platform which can eliminate concerns related to the misaligned mooring chain climbing has been established.

APA, Harvard, Vancouver, ISO, and other styles

48

Conduraru Slatineanu, Alina, Ioan Doroftei, and Ionel Conduraru. "Design and Kinematic Aspects of a Hybrid Locomotion Robot." Advanced Materials Research 1036 (October 2014): 764–69. http://dx.doi.org/10.4028/www.scientific.net/amr.1036.764.

Full text

Abstract:

Comparing to wheeled robots, legged ones are more flexible and mobile on difficult terrain, where wheeled robots cannot go. Wheels excel on flat surfaces or specially prepared surfaces, where wheeled robots are faster than legged machines. Also, wheeled platforms have simpler mechanical architecture and control algorithms. But they do not perform well when terrain is uneven, which is the case in real life, legged robots becoming more interesting to research and explore. Hybrid locomotion systems were developed to exploit the terrain adaptability of legs in rough terrain and simpler control as well as high speed associated with wheels. In this paper some information about the mechanical design and kinematics of a small hybrid locomotion robot are presented.

APA, Harvard, Vancouver, ISO, and other styles

49

Ding, Wan, Qiang Ruan, and Yan-an Yao. "Design and locomotion analysis of a novel deformable mobile robot with two spatial reconfigurable platforms and three kinematic chains." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 231, no. 8 (March 29, 2016): 1481–99. http://dx.doi.org/10.1177/0954406216641453.

Full text

Abstract:

A novel five degrees of freedom deformable mobile robot composed of two spatial reconfigurable platforms and three revolute–prismatic–spherical kinematic chains acting in parallel to link the two platforms is proposed to realize large deformation capabilities and multiple locomotion modes. Each platform is an improved deployable single degrees of freedom three-plane-symmetric Bricard linkage. By taking advantage of locomotion collaborating among platforms and kinematic chains, the mobile robot can fold into stick-like shape and possess omnidirectional rolling and worm-like motions. The mechanism design, kinematics, and locomotion feasibility are the main focus. Through kinematics and gait planning, the robot is analyzed to have the capabilities of rolling and turning. Based on its deformation, the worm-like motion performs the ability to overcome narrow passages (such as pipes, holes, gaps, etc.) with large range of variable size. Dynamic simulations with detailed three-dimensional model are carried out to verify the gait planning and provide the variations of essential motion and dynamic parameters in each mode. An experimental robotic system with servo and pneumatic actuation systems is built, experiments are carried out to verify the validity of the theoretical analysis and the feasibility of the different locomotion functions, and its motion performances are compared and analyzed with collected data.

APA, Harvard, Vancouver, ISO, and other styles

50

Zhang, Xuguang, Honghai Liu, and Yanjie Wang. "Feature‐fusion based object tracking for robot platforms." Industrial Robot: An International Journal 38, no. 1 (January 11, 2011): 66–75. http://dx.doi.org/10.1108/01439911111097869.

Full text

APA, Harvard, Vancouver, ISO, and other styles

Journal articles on the topic 'Robot Platforms'

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles