Soft robots are inherently compliant and have a solid potential for realizing human-friendly and safe robots. However, despite continued research highlighting the potential of soft robots, they remain primarily confin...
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ISBN:
(纸本)9781665408288
Soft robots are inherently compliant and have a solid potential for realizing human-friendly and safe robots. However, despite continued research highlighting the potential of soft robots, they remain primarily confined to laboratory settings. Inspired by spider monkeys' tails, this paper proposes a hybrid soft robot (HSR) design. We detail the design objectives and methodology to improve the controllable stiffness range and achieve independent stiffness and shape control. We extend the curve-parametric approach to obtain a kinematic model of the proposed HSR. We experimentally demonstrate that the proposed HSR has about a 100% stiffness range increase than a previous soft robot design with identical physical dimensions. In addition, we empirically map HSR's bending shape-pressure-stiffness and present an application example - a soft robotic gripper - to demonstrate the decoupled nature of stiffness and shape variations. Experimental results show that the proposed HSR can be successfully used in applications where independent stiffness and shape control is desired.
Simulation has been recognized as an important research tool since the beginning of the 20th century. However, the "good times" for simulation started withthe development of computers and now the simulation...
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Simulation has been recognized as an important research tool since the beginning of the 20th century. However, the "good times" for simulation started withthe development of computers and now the simulation is a powerful visualization, planning, and strategic tool in different areas of research and development. the simulation has also a very important role in robotics. Different tools are used for the analysis of kinematics and dynamics of robotic manipulators, for off-line programming, to design different control algorithms, to design mechanical structure of robots, to design robotic cells and production lines, etc. In the paper an overview of the simulation in robotics is given and some topics like: how simulation makes things easier, advantages and backdraws of the simulation in robotics, virtual and real world, are pointed out. the scope of the lecture is the role of the simulation, simulation in different fields of robotics, integrated environment for dynamic simulation of robot manipulators, the simulation of robot manipulators in MATLAB/Simulink (a case study), and simulation and visualization of robot systems using general dynamic engines and graphic languages. (C) 2008 IMACS. Published by Elsevier B.V. All rights reserved.
An important task in underwater autonomous vehicle swarm management is the knowledge of the graph topology, to be obtained withthe minimum possible communication exchanges and amid heavy interferences and background ...
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ISBN:
(纸本)9789898565709
An important task in underwater autonomous vehicle swarm management is the knowledge of the graph topology, to be obtained withthe minimum possible communication exchanges and amid heavy interferences and background noises. Despite the importance of the task, this problem is still partially unsolved. Recently, the Fast Fourier Transform and the addition of white noise to consensus signals have been proposed independently to determine respectively the laplacian spectrum and the adjacency matrix of the graph of interacting agents from consensus time series, but both methodologies suffer technical difficulties. In this paper, we combine them in order to simplify calculations, save energy and avoid topological reconstruction errors using only the largest eigenvalue of the spectrum and instead of white noise, a high frequency, low amplitude noise. Numerical simulations of several swarms (random, small-world, pipeline, grid) show an exact reconstruction of the configuration topologies.
We present a novel approach that incorporates information from sonar and infrared sensors mounted on a rotating platform to obtain feature-based stochastic maps of the environment. the purpose is to reliably determine...
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Given the trajectory of the industrial robot in Cartesian space, the existing methods only consider the kinematic constraints when optimizing the time trajectory planning, and ignore the maximum driving ability of the...
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Autonomous robots such as legged robots and mobile manipulators imply new challenges in the design and the control of their actuators. In particular, it is desirable that the actuators are back-drivable, efficient (lo...
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In this paper, we present a robotic system capable of mapping indoor, cluttered environments and, simultaneously, detecting people and localizing them with respect to the map, in real-time, using solely a Red-Green-Bl...
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ISBN:
(纸本)9789897580406
In this paper, we present a robotic system capable of mapping indoor, cluttered environments and, simultaneously, detecting people and localizing them with respect to the map, in real-time, using solely a Red-Green-Blue and Depth (RGB-D) sensor, the Microsoft Kinect, mounted on top of a mobile robotic platform running Robot Operating System (ROS). the system projects depth measures in a plane for mapping purposes, using a grid-based Simultaneous Localization and Mapping (SLAM) approach, and pre-processes the sensor's point cloud to lower the computational load of people detection, which is performed using a classical technique based on Histogram of Oriented Gradients (HOG) features, and a linear Support Vector Machine (SVM) classifier. Results show the effectiveness of the approach and the potential to use the Kinect in real world scenarios.
this dominant approach in contemporary science and industry-level applications is multilayer deep learning. In this article we compare convolutional neural networks (CNN) architecture with synergetic models. the CIFAR...
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there are short cycle, intensity disturbance and other characteristics about formation of subsided wetlands in mining coal area with higher groundwater table, there are also differences to general wetlands about conve...
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ISBN:
(纸本)9780769549323;9781467356527
there are short cycle, intensity disturbance and other characteristics about formation of subsided wetlands in mining coal area with higher groundwater table, there are also differences to general wetlands about convension of "carbon sources, carbon sinks" and succession law, it has been a focus of attention about coal mining area of ecological restoration. the article aims to reveal the spatial and temporal changes characteristics, control elements of "carbon pool" in subsided wetlands, to reveal succession rules of "carbon sinks" in subsided coal mining wetlands with higher groundwater table. To present based target of ecological restoration with carbon of "adding sinks, source reduction" in mining coal subsided wetlands with higher groundwater table.
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