A pneumatic soft robot hand which imitates the shapes and gestures of human hand is introduced in this article. Soft robotics, 3D printing technology, and casting technology are used to fabricate the soft robot hand. ...
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ISBN:
(纸本)9783319312934;9783319312910
A pneumatic soft robot hand which imitates the shapes and gestures of human hand is introduced in this article. Soft robotics, 3D printing technology, and casting technology are used to fabricate the soft robot hand. The robot hand consists of palm and fingers. The thumb has two joints, and other four fingers have three joints. The fingers are driven by soft actuators which are made of highly extensible, elastomeric material (Ecoflex 00-30;Smooth-On, Inc.). Kinematics model is established based on the homogeneous coordinate transformation matrix. The soft robot hand has good flexibility and compliance;thus, it can perform complex gestures and grasp objects with different shapes. The robot hand is mainly made of silicon rubber which makes it light in weight and compatible with different objects;additionally, it is even capable of lifting heavy objects. The heaviest object it can grasp weighs 0.55 kg. The pneumatic soft humanoid robot hand can be applied in industrial manufacturing and medical field.
This article describes a rigid and soft combined robot that is designed to be used in confined spaces. The robot is based on pneumatically actuated peristaltic motion. This motion is accomplished by the use of a pair ...
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ISBN:
(纸本)9783319312934;9783319312910
This article describes a rigid and soft combined robot that is designed to be used in confined spaces. The robot is based on pneumatically actuated peristaltic motion. This motion is accomplished by the use of a pair of pneumatic annular grippers in concert with a novel pneumatic soft actuator. The actuator is capable of actuation and it is made of soft material. So it can passively adapt to the outside passage, with this characteristic the robot can navigate through some constrained environments that would otherwise be inaccessible with conventional rigid actuators. The annular grippers consist of six scissor structures wrapped around the cylinder which can dramatically increase the maximum diameter of the grippers. So the robot can adapt its shape to external constraints and obstacles. The robot also contains a 2-DOF pneumatic soft joint that promises the robot capable of changing its direction actively.
Aiming at the problem that path planning for automatic handling robot in an environment with obstacles, the working environment model of the handling robot is analyzed. And then a path optimization algorithm based on ...
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ISBN:
(纸本)9781614997856;9781614997849
Aiming at the problem that path planning for automatic handling robot in an environment with obstacles, the working environment model of the handling robot is analyzed. And then a path optimization algorithm based on fusing ant colony and particle swarm optimization algorithm is proposed. First of all, this algorithm uses the global search ability of particle swarm to go on a rough search and quickly plans the starting point to the end of the initial path. Then, the pheromone distribution is performed on the initial path. Finally, the ant colony algorithm is used to search the path carefully to get the optimal path. Experimental verification shows that compared with a single ant colony or particle swarm optimization algorithm, fused algorithm about ant colony and particle swarm optimization has a significant improvement in the number of iterations and path planning.
Path planning problem in multiple automated guided vehicle（AGV） system has been proven to be NP-Hard problem by many *** complex task is being done using various mathematical techniques *** paper proposes an optimal...
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Path planning problem in multiple automated guided vehicle（AGV） system has been proven to be NP-Hard problem by many *** complex task is being done using various mathematical techniques *** paper proposes an optimal path planning method for the multiple AGV system based on genetic *** constraint in the optimization task is that,each AGV starts and returns to transfer center,travelling to a unique set of pick-up stations,each pick-up station is visited by exactly one AGV for goods picking *** Cost Function is to search for the shortest path *** least distance needed for each AGV to travel from the start location to individual points and back to the original starting *** experimental results shows the solution in this paper is effective which provide a reference for practical applications.
This paper observes interactions between a robot and pets, especially canines, and also investigates the feasibility of pet care robot (PCR) as an alternative for human in terms of pet caring based on animal-robot int...
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ISBN:
(纸本)9783319312934;9783319312910
This paper observes interactions between a robot and pets, especially canines, and also investigates the feasibility of pet care robot (PCR) as an alternative for human in terms of pet caring based on animal-robot interaction (ARI) with experiments. The paper demonstrates the effectiveness of PCR for playing with pets, which is designed based on ARI, ethology, and user-centered approaches. The experiments were performed to observe the interactions in two conditions: when the dogs meet the robot at the first time and when the dogs already meet the robot for some times. The result summarizes that canines are able to show better interaction performances with robots through repetitive learning with their owners. Furthermore, this result also suggests the feasibility of PCR as an alternative for human pet sitter in terms of the playing function.
The book is a compilation of high-quality scientific papers presented at the 3rdinternationalconference on Computer & Communication Technologies (IC3T 2016). The individual papers address cutting-edge technologi...
ISBN:
(数字)9789811032264
ISBN:
(纸本)9789811032257
The book is a compilation of high-quality scientific papers presented at the 3rdinternationalconference on Computer & Communication Technologies (IC3T 2016). The individual papers address cutting-edge technologies and applications of soft computing, artificial intelligence and communication. In addition, a variety of further topics are discussed, which include data mining, machine intelligence, fuzzy computing, sensor networks, signal and image processing, human-computer interaction, web intelligence, etc. As such, it offers readers a valuable and unique resource.
Aiming at the problem of self-balancing control of a cubical robot, this paper makes a research on the dynamic modeling of the cubical robot balancing on its corner. Using the prototype of cubical robot we built as th...
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Apply ball-picking robot in the golf, table tennis, tennis and other small-ball training court can enhance the efficiency of picking up, reduce the operating costs of the stadium, and improve the level of technical se...
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ISBN:
(数字)9783319652986
ISBN:
(纸本)9783319652986;9783319652979
Apply ball-picking robot in the golf, table tennis, tennis and other small-ball training court can enhance the efficiency of picking up, reduce the operating costs of the stadium, and improve the level of technical service. This paper explores the research of ball-picking robot. Analyzes the research results and application of key technologies in this field, such as navigation and location, path planning and wireless communication. Discusses the trend of intelligent ball-picking robottechnology under the background of rapid development of intelligent core technology such as Internet, multi-robot cooperation, machine visual and multi-sensor fusion. The results show that, in addition to golf-picking equipment, the current ball-picking robottechnology is still in the primary test stage. The degree of intelligence is still relatively low. There are few achievements can be popularized and applied. The industrial robot in recognition and localization, autonomous navigation, artificial intelligence have a rapid development. They will promote the research on ball-picking intelligent service robottechnology. And promote the development of entertainment fitness industry.
Soft robotics is an expanding new research field. This article presents a state-of-the-art review on soft robotics including its research directions, key characteristics, materials, design and fabrication techniques. ...
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ISBN:
(纸本)9783319312934;9783319312910
Soft robotics is an expanding new research field. This article presents a state-of-the-art review on soft robotics including its research directions, key characteristics, materials, design and fabrication techniques. Although many biomimetic soft robots have been developed, a few of these have industrial applications. This article proposes a soft XY machine table for the purpose of object manipulation. The proposed table combines the concepts from three areas: soft robotics, object manipulation and industrial application. The surface of proposed table is entirely soft and embedded with inflatable air chambers. Surface deformation is generated by inflating these chambers. One object manipulation approach is to generate travelling waves on the deformable surface.
The paper is concerned with control over a lower-limb exoskeleton device when it performs a sit-to-stand motion from a chair. A mathematical model describing full dynamics of the device is derived, and the strategies ...
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ISBN:
(纸本)9783319312934;9783319312910
The paper is concerned with control over a lower-limb exoskeleton device when it performs a sit-to-stand motion from a chair. A mathematical model describing full dynamics of the device is derived, and the strategies to facilitate the desired motion are outlined. A control system based on a modified Jacobian transpose is proposed, and its performance is evaluated in a series of numerical experiments. The simulations proved that the proposed control method can be successfully used to provide stable sit-to-stand motion from a chair.
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