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A Designing Method of the Passive Dynamic Walking Robot via Analogy with Phase Locked Loop Circuits InTech
Masatsugu Iribe; Koichi Osuka.
In this paper we ascertained the analogous behavior between Phase locked loop circuit and the passive dynamic walking robot, and showed the effective property to get set-up parameters and initial conditions. Then we proposed one method to fix the physical parameters and conditions which cause the desired walking gaits, and at last we showed the compensation method which is effective to stabilize the bifurcated gait of the robot. The proposed method which is inspired by the analogy with Phase locked loop circuit is probably valuable for designing the passive dynamic walking robot before beginning the actual prototyping. For the future work, we try to investigate the characteristic behavior of the passive dynamic walking robot which is similar to the Lock...
Tipo: 6 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_designing_method_of_the_passive_dynamic_walking_robot_via_analogy_with_phase_locked_loop_circuits
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A Multitasking Surface Exploration Rover System InTech
Antonios K. Bouloubasis; Gerard T. McKee.
To conclude, the MTR is an advanced surface mobility system, which presents a high degree of internal and external re-configurability to account for rough terrain stability and multifunctionality. The operational capability of the MTR is enclosed inside Packs, and is interchangeable and upgradeable. The numbers of robotic Tools and/or Science instruments that can be utilized by the rover are limited only by the exploration needs. The approach aims to bring down the cost versus functionality ratio by offering mobility according to demand to smaller modules with dedicated, well-defined operational characteristics. This reduces the overheads imposed by the necessity of having a dedicated
Tipo: 21 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_multitasking_surface_exploration_rover_system
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A Reference Control Architecture for Service Robots as applied to a Climbing Vehicle InTech
Francisco Ortiz; Diego Alonso; Juan Pastor; Barbara Alvarez; Andres Iborra.
7.1 Conclusions and Lessons Learned In this chapter we have described our experiences using an architectural framework in the development of robotic applications, with discussion of the importance of system architecture to handle the inherent complexity of robotic systems. Among the robots developed in the EFTCoR project, two versions of the climbing vehicle Lázaro have been described, starting from the special requirements of the shipyards to develop cleaning systems that can free human operators from those dangerous tasks, and, at the same time, minimizing the emissions of pollutants into the environment. Among the many lessons learned in the development of such software architectures and frameworks it is important to highlight two in particular: (1) it...
Tipo: 12 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_reference_control_architecture_for_service_robots_as_applied_to_a_climbing_vehicle
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Armless Climbing and Walking in Robotics InTech
Maki K. Rashid.
The present work has proven the effectiveness of using the virtual prototyping and real time simulation in investigating the dynamic of a single wheel mobile robot under different manoeuvring tasks. Intelligent controller implementation has been shown to be effective in overcoming the difficulties raised from the unpredictable parameters such as friction, and other dynamic forces. The constructed neurofuzzy controller with ANFIS has indicated improvement over the Takagi-Sugeno fuzzy controller. The control tactics was tested with a robot passing a platform of three segments. The robot has shown capability in climbing an uphill ground or passing obstacle with different tilt angles where both friction and restitution coefficients between the wheel and the...
Tipo: 11 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/armless_climbing_and_walking_in_robotics
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Basic Concepts of the Control and Learning Mechanism of Locomotion by the Central Pattern Generator InTech
Jun Nishii; Tomoko Hioki.
In this chapter, we introduced the basic concepts of the control and learning mechanism to realize a desired locomotion by the CPG. As introduced in section 5.1, the control system of locomotion in living bodies assumes a hierarchical structure in which the CPG synchronizes with a physical system and generates motor signals to motor neurons, and higher centers learn a desired motor signal from the performance of locomotion and control the CPG. The control signal from higher centers can also function as a teacher signal for the CPG to acquire neural parameters in the CPG. The concept that the higher centers acquire a motor command appears to be a natural assumption because higher centers such as the motor cortex sends motor commands in order to respond to...
Tipo: 15 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/basic_concepts_of_the_control_and_learning_mechanism_of_locomotion_by_the_central_pattern_generator
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Biologically Inspired Robots InTech
Fred Delcomyn.
7.1 Where we are It should be apparent from this review of biologically inspired robotics, as incomplete as it is, that the field is active, vibrant, and growing. Even robotics research on problems such as
Tipo: 17 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/biologically_inspired_robots
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Climbing Robots InTech
Majid M. Moghadam; Mojtaba Ahmadi.
It can be concluded that the MSRox mechanism works properly and can be used for traversing stairs and obstacles and passing over any uneven terrain.
Tipo: 26 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/climbing_robots
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Climbing Service Robots for Improving Safety in Building Maintenance Industry InTech
Bing L. Luk; Louis K. P. Liu; Arthur A. Collie.
Climbing robots for building inspection and maintenance have many advantages over traditional manual approaches because the formers are more accurate and efficient. For certain hazardous industries such as nuclear or chemical industry, climbing robots may be the only means for carrying out the inspection and maintenance tasks as the environments are dangerous to human operators. As a result, climbing robots are becoming more and more popular in doing building maintenance industry in the future. In this chapter, several climbing robots including WIC, SADIE and Robug III are discussed. These robots have been used in some practical applications before and have proved their usefulness in building maintenance industry. Currently, most of these robots are...
Tipo: 9 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/climbing_service_robots_for_improving_safety_in_building_maintenance_industry
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Climbing with Parallel Robots InTech
R. Saltaren; R. Aracil; O. Reinoso; E. Yime.
Tipo: 13 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/climbing_with_parallel_robots
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Collective Displacement of Modular Robots Using Self-Reconfiguration InTech
Carrillo Elian; Dominique Duhaut.
This study corresponds to futures steeps in the development of modular robots in MAAM. If technology continues to evolve as well it has done, we can imagine other project can be carried out again in micro-robotics and nanotechnologies. The challenge could be to reconfigure thousand of units under environmental conditions. We wonder about the generalization of the approach and the portability of this method in particular if one moves to 3D space. Indeed, it is necessary to add a new Z referring distance parameters, and to define the order of minimizing the distance on X, Y, Z.
Tipo: 22 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/collective_displacement_of_modular_robots_using_self-reconfiguration
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Evolutionary Strategies Combined With Novel Binary Hill Climbing Used for Online Walking Pattern Generation in Two Legged Robot InTech
Lena Mariann Garder; Mats Hovin.
In this chapter an incremental search algorithm combining ES and binary hill climbing has been presented. The ESBH algorithm is compared to simple GA and ES, and stochastic search. We see that the ESBH algorithm is in average superior to the other approaches in this application where the focus is fast learning in less than 20 generations. A possible objection to the proposed ESBH algorithm is that heavy noise in the fitness calculations may cause the algorithm to derail and search in a non optimal region of the search space. Although various simulations has shown that the ESBH algorithm develop proper gaits significantly faster than standard GA/ES based algorithms, practical side effects in a physical environment, such as highly unpredictable shoe sole...
Tipo: 20 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/evolutionary_strategies_combined_with_novel_binary_hill_climbing_used_for_online_walking_pattern_gen
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Gait Programming for Multi-Legged Robot Climbing on Walls and Ceilings InTech
Jinwu Qian; Zhen Zhang; Li Ma.
The research on transition gait programming makes it possible for the robot to act both as a ground-walking machine and as a wall-climbing robot as well. It forms the basis of gait kinematics in developing a six-legged wall-and-ground-walking robot. It is a new attempt to investigate ground-to-wall transit gait programming of six-legged robot in the research field of walking machines. Employing kinematics geometry, the authors decompose the relatively complicated transit walking into combination of two basic motions. The method proposed is verified by kinematics simulation as correct and effective. The feasibility of the ground-wall transitional motion of the legged robot is mainly determined by the distance H and D. Too large or small values of them...
Tipo: 10 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/gait_programming_for_multi-legged_robot_climbing_on_walls_and_ceilings
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Gait Synthesis in Legged Robot Locomotion Using a CPG-Based Model InTech
J. Cappelletto; P. Estévez; J. C. Grieco; W. Medina-Meléndez; G. Fernández-López.
6.1 Conclusions A state of the art review was exposed for locomotion modes in quadrupeds and hexapods. In the review were identified the most relevant components for each neurophysiologic model; also the advantages and disadvantages of each model were discussed. It must be noticed that some coincidences in the proposed problem, related to the modeling using not only the conventional method but also the neurophysiologic approach were found; in both cases, the model is based on two systems: one modeling the temporal coordination among the legs and the other one modelling the trajectory control for each leg. The proposed idea is to divide the locomotion trajectory generation issue in two problems: the coordination of the phase relationships among the legs and...
Tipo: 14 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/gait_synthesis_in_legged_robot_locomotion_using_a_cpg-based_model
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In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines InTech
Hyouk Ryeol Choi; Se-gon Roh.
In this chapter we presented the robotic systems MRINSPECT series for a long-distance inspection of pipelines. The systems show outstanding mobility and several characteristic features, which make it possible to apply the proposed systems in pipelines with complicate geometries regardless of the effect of gravity, its postures, and the direction of moving. Though the algorithms were described based on MRINSPECT series, the ideas can be generalized to the other robots. However, according to our experiences on this work, the mechanism of the in-pipe robot should be adaptable to the characteristic condition of the pipelines and it is the preliminary requirement for the successful movement. The use of a general- purpose robot may not be possible in in-pipe...
Tipo: 23 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/in-pipe_robot_with_active_steering_capability_for_moving_inside_of_pipelines
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Locomotion of an Underactuated Biped Robot Using a Tail InTech
Fernando Juan Berenguer; Felix Monasterio-Huelin.
We have presented in this work a biped mechanism of easy design and construction that is able to walk with only one actuator. The system is attractive for educational and commercial applications due to the simplicity of the applied concepts. In order to reduce the energy consumption of this system, an important problem in actuated bipedal locomotion, we aim for a gait with smooth contact between feet and ground, reduce the joints friction and
Tipo: 2 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/locomotion_of_an_underactuated_biped_robot_using_a_tail
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Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots InTech
Juan Gonzalez-Gomez; Houxiang Zhang; Eduardo Boemo.
The Locomotion principles for the groups of pitch-pitch connection and pitch-yawconnecting modular robots have been studied, simulated and finally tested on real robots. Five different gaits have been achieved: 1D sinusoidal, rolling, rotating, turning and side winding. The rotating gait is a new one not previously mentioned by other researchers to the best of our knowledge. All the gaits have been implemented using a biologically inspired model based on sinusoidal generators that can be implemented efficiently on low cost microcontrollers. The minimal configurations for both locomotion in 1D and 2D have been found. They are novel configurations that minimize the number of modules and therefore maximize the number of robots in which a self-reconfigurable...
Tipo: 24 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/locomotion_principles_of_1d_topology_pitch_and_pitch-yaw-connecting_modular_robots
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Mechanical and Kinematics Design Methodology of a New Wheelchair with Additional Capabilities InTech
R. Morales; A. Gonzalez; V. Feliu.
A new approach has been presented for designing and building a climbing-wheelchair. Its main features are: a) automatic adaptation to steps with different heights, b) easy maintenance of the verticality of the wheelchair, c) the climbing of stairs requires less effort from the actuators (only a subset of the actuated degrees of freedom is needed when the trajectory slope of the chair frame is the same as the slope of the racks or the slope of the wheels, depending on the configuration), d) weight and energy consumption are reduced and e) wheelchair stability is guaranteed during every moment because its weight is always transferred to horizontal surfaces and the support polygon is always greater than or equal to the support polygon of the conventional...
Tipo: 27 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/mechanical_and_kinematics_design_methodology_of_a_new_wheelchair_with_additional_capabilities
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Mechanical Design of Step-Climbing Vehicle with Passive Linkages InTech
Daisuke Chugo; Kuniaki Kawabata; Hayato Kaetsu; Hajime Asama; Taketoshi Mishima.
In this paper, we proposed the mechanical design for passive linkages. We discuss the moment force which is applied on the vehicle body when the vehicle contacts the step and we derive the moment force using the position of free joint point. From the derivation, we design new passive linkage mechanism and utilize it to our prototype. We verified the effectiveness of our proposed design on passive linkages by computer simulations and experiments. Utilizing our proposed mechanical design on the prototype, the moment force becomes positive, all wheels are grounded and step-climbing ability increases. From these results, our proposed mechanical design for passive linkages improves the mobile performance.
Tipo: 25 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/mechanical_design_of_step-climbing_vehicle_with_passive_linkages
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Multiple Sensor Fusion and Motion Control of Snake Robot Based on Soft-Computing InTech
Woo-Kyung Choi; Seong-Joo Kim; Hong-Tae Jeon.
The goal of this paper in a snake robot and sensor fusion is that the snake robot which imitates a real snake's an activity and being adapted to topography and has multiple sensors operates well with considering environment around it. To avoid overloads of a processor and process a huge data of multiple sensors in distribute methods, fusion module of sensor is constructed in a module. In a low level of sensor processes, we worked sensor fusion
Tipo: 19 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/multiple_sensor_fusion_and_motion_control_of_snake_robot_based_on_soft-computing
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Omnidirectional Mobile Robot - Design and Implementation InTech
Ioan Doroftei; Victor Grosu; Veaceslav Spinu.
Omnidirectional vehicles have great advantages over conventional (non-holonomic) platforms, with car-like Ackerman steering or differential drive system, for moving in tight areas. They can crab sideways, turn on the spot, and follow complex trajectories. These robots are capable of easily performing tasks in environments with static and dynamic obstacles and narrow aisles. Such environments are commonly found in factory workshop offices, warehouses, hospitals, etc. Flexible material handling and movement, with real-time control, has become an integral part of modern manufacturing. The development of an omnidirectional vehicle was pursued to further prove the effectiveness of this type of architecture and to add a ground vehicle platform that is capable of...
Tipo: 29 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/omnidirectional_mobile_robot_-__design_and_implementation
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