Sabiia Seb
PortuguêsEspañolEnglish
Embrapa
        Busca avançada

Botão Atualizar


Botão Atualizar

Ordenar por: RelevânciaAutorTítuloAnoImprime registros no formato resumido
Registros recuperados: 21
Primeira ... 12 ... Última
Imagem não selecionada

Imprime registro no formato completo
A 4WD Omnidirectional Mobile Platform and its Application to Wheelchairs InTech
Masayoshi Wada.
Conventional electric wheelchairs can not meet requirements for both maneuverability and high mobility in rough terrain in a single design. Enhancing their mobility could facilitate the use of wheelchairs and other electric mobile machines and promote barrier-free environments without re-constructing existing facilities. To improve wheelchair step-climbing and maneuverability, we introduced a 4WD with a pair of normal wheels in back and a pair of omniwheels in front. A normal wheel and an omniwheel are connected by a transmission and driven by a common motor to make them rotate in unison. To apply the 4WD to a wheelchair platform, we conducted basic analyses on the ability to climb steps. After analyzing the original 4WD statics and kinematics and...
Tipo: 15 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_4wd_omnidirectional_mobile_platform_and_its_application_to_wheelchairs
Imagem não selecionada

Imprime registro no formato completo
A Climbing Robot for Cleaning Glass Surface with Motion Planning and Visual Sensing InTech
Dong Sun; Jian Zhu; Shiu Kit Tso.
This chapter persents an application of a climbing robot for the glass cleaning service. The robot is constructed by two rodless cylinders and a rotation cylinder. The robot can adjust its orientation to maintain in the desired trajectory path. After finishing the cleaning work in one section of the glass wall, the robot can cross the window frame to enter another section. A visual sensing system, which is composed of an omnidirectional CCD camera and two laser diodes, is applied to measure the robot’s position and orientation on the glass wall. Experiments demonstrate that with the assistance of the proposed motion planning and visual sensing technologies, the climbing robot can perform cleaning work on the glass wall effectively. Future work will be...
Tipo: 10 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_climbing_robot_for_cleaning_glass_surface_with_motion_planning_and_visual_sensing
Imagem não selecionada

Imprime registro no formato completo
A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information InTech
Feng Chen; Yong Yu; Yunjian Ge; Jian Sun; Xiaohong Deng.
We like to thank the support from the National Science Foundation of China (Grant No. 60575054).
Tipo: 20 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_pawl_for_enhancing_strength_and_endurance_during_walking_using_interaction_force_and_dynamical_inf
Imagem não selecionada

Imprime registro no formato completo
Amphibious NDT Robots InTech
Tariq P. Sattar; Hernando E. Leon-Rodriguez; Jianzhong Shang.
Three prototype robots have been developed to gain entry into a large range of oil, petrochemical and process storage tanks. The robots are lightweight and compact so that they can be transported by one or two operators and easily inserted through the smallest manholes. The robots are amphibious, being able to operate in air and while submerged in liquids. They have been tested in water but the design incorporates the features to enable rapid progression to operation in oil and other flammable and explosive liquids. Between them, the robots can inspect: (a) The walls of storage tanks that may not be accessible from the outside due to rain plates and in partially or fully buried tanks. Wall inspection can be performed only when the tank is full of product....
Tipo: 6 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/amphibious_ndt_robots
Imagem não selecionada

Imprime registro no formato completo
Attitude and Steering Control of the Long Articulated Body Mobile Robot KORYU InTech
Edwardo F. Fukushima; Shigeo Hirose.
The authors have designed and actually built a mechanical prototype of a class of articulated body mobile robots, 3.3m long, and mass of more than 400kg, called KR-II. Attitude control and steering control has been successfully implemented, and the robot can move stably in the outdoors, even on uneven terrain. The presented steering control method is based on parameter representation for describing trajectories in an inertial reference frame, with travelled distance as a parameter. In doing so, the position of each element (in the case of the articulated body mobile robot KR-II, segment center positions) on the trajectory can be tracked by simple and effective numerical searching algorithms. For the real robot KR-II, the introduced method demonstrated good...
Tipo: 2 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/attitude_and_steering_control_of_the_long_articulated_body_mobile_robot_koryu
Imagem não selecionada

Imprime registro no formato completo
Attitude Control of a Six-Legged Robot in Consideration of Actuator Dynamics by Optimal Servo Control System InTech
H. Uchida; K. Nonami.
In the present study, we examined the attitude control method considering the delay of the hydraulic actuator whereby the mine detection six-legged robot can realize stable walking on irregular terrain without to make an orbit of the foot for irregular terrain. The following results were obtained. (1) As an attitude control method considering the delay of the actuator of the thigh links, we derive a mathematical model in which the inputs are the driving torque of the thigh links in the supporting legs and the outputs are the height of the body, the pitching angle, and the rolling angle. (2) The 3rd-order delay system is approximated as a 2nd-order delay system, and an optimal servo control system is applied as the attitude control method. (3) The validity...
Tipo: 14 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/attitude_control_of_a_six-legged_robot_in_consideration_of_actuator_dynamics_by_optimal_servo_contro
Imagem não selecionada

Imprime registro no formato completo
Ball-Shaped Robots InTech
Tomi Ylikorpi; Jussi Suomela.
Throughout history, ball-shaped toys have been quite popular and they still exist. Developments in computer technology, wireless data transfer, and digital cameras have given them many advanced operational capabilities. Autonomous ball-shaped robots are being introduced back into modern homes, this time not only as toys, but also as serving and guarding robots. Future work in this field will concentrate on analysing and developing the dynamics and control of the ball, as well as on applications and interaction with the environment and people. The utilisation of large wind-propelled balls for Mars exploration has been widely studied in many separate institutions. The main advantages are large size, low mass, and autonomous mobility, accompanied by the...
Tipo: 11 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/ball-shaped_robots
Imagem não selecionada

Imprime registro no formato completo
City-Climber: A New Generation Wall-Climbing Robots InTech
Jizhong Xiao; Ali Sadegh.
This chapter highlights some accomplishments of CCNY robotics team in developing novel wall-climbing robots that overcome the limitations of existing technologies, and surpass them in terms of robot capability, modularity, and payload. The performance of several City-Climber prototypes are demonstrated by the experimental results recorded in video. By integrating modular design, high-performance onboard processing unit, the City-Climber robots are expected to exhibit superior intelligence to other small robot in similar caliber. The next step of the project is to optimize the adhesion mechanism to further increase suction force and robot payload, and to improve the modularity and transition mechanism to allow the robot re-configure its shape to adapt to...
Tipo: 18 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/city-climber__a_new_generation_wall-climbing_robots
Imagem não selecionada

Imprime registro no formato completo
Complex and Flexible Robot Motions by Strand-Muscle Actuators InTech
Masakazu Suzuki.
Towards biped walking humanoid Development of humanoid robots is increasingly active. A biped walking mechanism using StMAs is now under development. The muscle coordination in multi-DOF joints and its online optimal control presented in sections 5 and 6 are applicable not only to shoulder control, but also to any multi-DOF joints such as wrists, hip joints, ankles and neck, or even to eyes and tongue movement. The StMAs are small, light and simple. They are suitable for application to robotic hands, in which many actuators must be installed in the palm or in the forearm. The StMAbased hand in Fig.27 has 20 StMAs installed at the forearm, and the tension is transferred to wrist and fingers through tendon sheaths. 12 actuators are used as finger flexor...
Tipo: 12 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/complex_and_flexible_robot_motions_by_strand-muscle_actuators
Imagem não selecionada

Imprime registro no formato completo
Connected Crawler Robot - Design and Motion Planning for Climbing a Step InTech
Sho Yokota.
This chapter showed sub-optimal number of crawler stages for connected crawler robot, through demonstrating the relationship between the number of stages and maximum climbable step height. After that, it proposed the actual connected crawler robot, and indicated basic experimental result. The conclusions of this chapter are as follows. A joint angle function was approximated by Fourier series and parameters were searched by GA.
Tipo: 19 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/connected_crawler_robot_-_design_and_motion_planning_for_climbing_a_step
Imagem não selecionada

Imprime registro no formato completo
Design Methodology for Biped Robots: Applications in Robotics and Prosthetics InTech
Maximo Roa; Diego Garzon; Ricardo Ramirez.
1
Tipo: 5 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/design_methodology_for_biped_robots__applications_in_robotics_and_prosthetics
Imagem não selecionada

Imprime registro no formato completo
Dynamic Walk of Humanoids: Momentum Compensation Based on the Optimal Pelvic Rotation InTech
Hiroshi Takemura; Akihiro Matsuyama; Jun Ueda; Yoshio Matsumoto; Hiroshi Mizoguchi; Tsukasa Ogasawara.
In this chapter, the trunk-twistless walk of contact sport athletes was described from a motion measurement and the trunk-twistless walk was analyzed by using the mathematical model. The proposed optimal relative phase of the swing leg and the pelvic rotation was applied to the walk of humanoid HRP-2. The walking action including the momentum compensation was completed only by the lower body, so that the upper body DOF can be used for accomplishing a task. Using the proposed walk, the stance foot torque and the energy consumption were both reduced. The future work includes an evaluation of the energy efficiency of the trunk-twistless walk, both in humanoids and human. An optimization program for an efficient walking pattern should be investigated. The...
Tipo: 13 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/dynamic_walk_of_humanoids__momentum_compensation_based_on_the_optimal_pelvic_rotation
Imagem não selecionada

Imprime registro no formato completo
Evolution of Biped Locomotion Using Linear Genetic Programming InTech
Krister Wolff; Mattias Wahde.
This study has been centered on essentially model-free evolution of bipedal gaits, in which the controller was not provided with any model of the bipedal robot, neither any a priori knowledge on how to walk. In both the ODE and EvoDyn implementations, the gaitgenerating controller programs were evolved starting from random sequences of basic LGP instructions (supplemented by initial values of the parameters used for specifying the torques, in the EvoDyn case).
Tipo: 16 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/evolution_of_biped_locomotion_using_linear_genetic_programming
Imagem não selecionada

Imprime registro no formato completo
Mechanics and Simulation of Six-Legged Walking Robots InTech
Giorgio Figliolini; Pierluigi Rea.
The mechanics and locomotion of six-legged walking robots has been analyzed by considering a simple "technical design", in which the biological inspiration is only given by the trivial observation that some insects use six legs to obtain a static walking, and considering a "biological design", in which we try to emulate, in every detail, the locomotion of a particular specie of insect, as the "cockroach" or "stick" insects. In particular, as example of the mathematical approach to analyze the mechanics and locomotion of six-legged walking robots, the kinematic model of a six-legged walking robot, which mimics the biological structure and locomotion of the stick insect, has been formulated according to the Cruse-based leg control system. Thus, the direct...
Tipo: 1 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/mechanics_and_simulation_of_six-legged_walking_robots
Imagem não selecionada

Imprime registro no formato completo
Modular Walking Robots InTech
Ion Ion; Ion Simionescu; Adrian Curaj; Alexandru Marin.
The walking robots are used to unconventional displacement of the technological loads over the unarranged terrains. The modular constructions of the walking robots led to a more suppleness and very good adaptation to any terrain surface. The displacement is carried out at the very most circumstances and with a minimum expenditure of energy if the leg mechanisms are designed in accordance with the above prescriptions
Tipo: 3 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/modular_walking_robots
Imagem não selecionada

Imprime registro no formato completo
Non-Time Reference Gait Planning and Stability Control for Bipedal Walking InTech
Xianxin Ke; Jinwu Qian; Zhenbang Gong.
A non-time reference gait planning method is proposed. The usual reference variable, time, is substituted by a non-time variable in gait, so the whole gait-planning phase can be divided into two phases, (1) planning the space walking path: Taking the forward locomotion of upper-body as reference variable, considering the constraint of the environment, the walking path of a robot without collision with other objects is designed, thus the relative locomotion of the parts of the robot is obtained; (2) planning the trajectory of the non-time reference variable: according to the constraint of ZMP stability, design the forward locomotion of upper-body. The gait-planning problem is changed to the optimization problem. Using the excellent optimization and...
Tipo: 4 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/non-time_reference_gait_planning_and_stability_control_for_bipedal_walking
Imagem não selecionada

Imprime registro no formato completo
Optimal Design of a New Wheeled Mobile Robot by Kinetic Analysis for the Stair-Climbing States InTech
Chun-Kyu Woo; Hyun Do Choi; Mun Sang Kim; Soo Hyun Kim; Yoon Keun Kwak.
In order to be utilized in building inspection, building security, and military reconnaissance, a new type of WMR was designed with a passive linkage-type locomotive mechanism for improved adaptability to rough terrain and stair-climbing without the active control techniques. Two designed concepts, `adaptability' and `passivity', were considered for the design of the linkage-type locomotive mechanism of the WMR. The proposed mechanism, composed of a simple 4-bar linkage mechanism and a limited pin joint, allows the WMR to adapt passively to rough terrain and to climb stairs. A state analysis was carried out to determine the states that primarily influence the WMR's ability to climb the stair. For the several dominant states suggested from the state...
Tipo: 17 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/optimal_design_of_a_new_wheeled_mobile_robot_by_kinetic_analysis_for_the_stair-climbing_states
Imagem não selecionada

Imprime registro no formato completo
Simplified Modelling of Legs Dynamics on Quadruped Robots' Force Control Approach InTech
Jose L. Silvino; Peterson Resende; Luiz S. Martins-Filho; Tarcisio A. Pizziolo.
In this work, a dynamical model simplification was implemented and analysed considering a small quadruped mobile robot, equipped with pantographic leg mechanisms. This specific leg design and characteristics were considered, as well the context of realistic possible physical realization (dimensions, masses, inertias) of a laboratory prototype. A simplification was proposed aiming the reduction of computational efforts for the evaluation of the matrices C(q,dq/dt) and G(q), corresponding respectively to the centrifugal and Coriolis forces, and to the gravitational dynamical contributions. The resulting advantages of the presented proposition were verified when comparing the numerical simulations of the leg mechanism motions taking the complete and...
Tipo: 8 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/simplified_modelling_of_legs_dynamics_on_quadruped_robot_s_force_control_approach
Imagem não selecionada

Imprime registro no formato completo
Test Methods and Knowledge Representation for Urban Search and Rescue Robots InTech
Craig Schlenoff; Elena Messina; Alan Lytle; Brian Weiss; Ann Virts.
In this paper, we described an effort in which NIST is working with FEMA Task Force members to define performance requirements and standard test methods as well as to assess the deployment potential of robots applied to the USAR domain. This process has resulted in draft test method specifications based upon a well-defined set of robot requirements, which are currently making their way through the standardization process. This chapter also describes a set of knowledge representation efforts that are underway to make it easier for responders to easily determine the best robot for the environment in which they are confronted. These knowledge representation efforts range from fairly informal ? a paperbased robot pocket guides which give high-level...
Tipo: 7 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/test_methods_and_knowledge_representation_for_urban_search_and_rescue_robots
Imagem não selecionada

Imprime registro no formato completo
The Bio-Inspired SCORPION Robot: Design,Control & Lessons Learned InTech
Spenneberg Dirk; Kirchner Frank.
The PCR-approach showed that it is possible to define models for the low-level biological motoric concepts and combine them, so that they can be used with a behaviour-based control approach in a flexible way. The control of the posture, while the system is walking, gives additional flexibility in comparison to the CCPG approach (Ayers 2002) or the Walknet approach (Cruse 1999). In addition, the combination of different walking patterns, e.g., for an omni-directional movement, produces a rich motion repertoire on the basis of a small set of elementary locomotion patterns which are defined with few parameters. But, recapitulating, none of the existing bio-inspired approaches including the PCRapproach yet is able to use the full motion potentials which...
Tipo: 9 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/the_bio-inspired_scorpion_robot__design_control___lessons_learned
Registros recuperados: 21
Primeira ... 12 ... Última
 

Empresa Brasileira de Pesquisa Agropecuária - Embrapa
Todos os direitos reservados, conforme Lei n° 9.610
Política de Privacidade
Área restrita

Embrapa
Parque Estação Biológica - PqEB s/n°
Brasília, DF - Brasil - CEP 70770-901
Fone: (61) 3448-4433 - Fax: (61) 3448-4890 / 3448-4891 SAC: https://www.embrapa.br/fale-conosco

Valid HTML 4.01 Transitional