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Articles 1 - 5 of 5
Full-Text Articles in Engineering
Design, Construction, And Testing Of A New Class Of Mobile Robots, Ivan Siles
Design, Construction, And Testing Of A New Class Of Mobile Robots, Ivan Siles
All Theses
This thesis introduces a novel mobile robot design concept aimed at exploration of subterranean spaces. The key innovation is the combination of highly maneuverable body elements with wheel/leg elements (Whegs). This combination offers performance not possible with conventional 'monolithic' wheeled or tracked mobile robots, or with current robot snakes. The thesis covers four design iterations of the concept, concentrating on describing the overall design process and results from field tests. Additionally a kinematic analysis of the fourth prototype and implications for future designs is presented.
A Walking Silicon Robot, David W. Grund Jr, Lynn F. Fuller
A Walking Silicon Robot, David W. Grund Jr, Lynn F. Fuller
Journal of the Microelectronic Engineering Conference
The goal of this project was to design and implement a MEMS process for the creation of a walking silicon robot using the equipment available at RIT. An attempt was carried out to create a mobility system based on the thermal expansion of polyimide joints as demonstrated by Ebefors. The designed process was successfully implemented through the oxidation of the joint surfaces. Issues with the Al resistor and polyimide lithography prevented the successful completion of the rest of the process.
Steering A Humanoid Robot By Its Head, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond, Alain Berthoz
Steering A Humanoid Robot By Its Head, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond, Alain Berthoz
Faculty of Engineering and Information Sciences - Papers: Part B
We present a novel method of guiding a humanoid robot, including stepping, by allowing a user to move its head. The motivation behind this approach comes from research in the field of human neuroscience. In human locomotion it has been found that the head plays a very important role in guiding and planning motion. We use this idea to generate humanoid whole-body motion derived purely as a result of moving the head joint. The input to move the head joint is provided by a user via a 6D mouse. The algorithm presented in this study judges when further head movement …
Solution Of Inverse Kinematic Problem For Serial Robot Using Dual Quaterninons And Plucker Coordinates, Emre Sariyildiz, Hakan Temeltas
Solution Of Inverse Kinematic Problem For Serial Robot Using Dual Quaterninons And Plucker Coordinates, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
In this paper we present a new formulation method to solve kinematic problem of serial robot manipulators. In this method our major aims are to formulize inverse kinematic problem in a compact closed form and to avoid singularity problem. This formulation is based on screw theory with dual - quaternion. Compared with other methods, screw theory methods just establish two coordinates, and its geometrical meaning is obvious. We used dual-quaternion in plücker coordinates as a screw operator for compactness. 6R-DOF industrial robot manipulators forward and inverse kinematic equations are derived using this new formulation and simulation results are given.
Remote Control Of Multiple Robots: A Wireless Sensor Network And Virtual Reality Approach, Yingjun Zhu
Remote Control Of Multiple Robots: A Wireless Sensor Network And Virtual Reality Approach, Yingjun Zhu
Open Access Theses & Dissertations
A tele-operation system of robots based on virtual reality and WSN is established and demonstrated. Pro/E, Blender 3D and Python language are adopted to build up and carry out the virtual environment and virtual robot. Wireless Sensor Network (WSN) technology has been used to achieve the tele-operation function. The WSN enables the users to control the robots and collect the data/status from the robots as well. Robot virtual reality software has been developed and presented in the paper. The network setup and the control/communication Application Programming Interface (API) has been shown in this paper.