This paper provides a system overview of a new Mars rover prototype, Rocky 7. We describe all system aspects: mechanical and electrical design, computer and software infrastructure, algorithms for navigation and manip...
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This paper provides a system overview of a new Mars rover prototype, Rocky 7. We describe all system aspects: mechanical and electrical design, computer and software infrastructure, algorithms for navigation and manipulation, science data acquisition, and outdoor rover testing. In each area, the improved or added functionality is explained in a context of its path to flight and within the constraints of desired science missions.
In this paper, we propose a new brachiation robot, a single-rod brachiation robot. Brachiation is a method of locomotion that makes clever use of gravity and has been tried to apply to robots. Conventional brachiation...
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ISBN:
(数字)9781665479271
ISBN:
(纸本)9781665479271
In this paper, we propose a new brachiation robot, a single-rod brachiation robot. Brachiation is a method of locomotion that makes clever use of gravity and has been tried to apply to robots. Conventional brachiation robots are multiple-pendulum-like robots that mimic a gibbon. Although the multiple-pendulum-like robot can easily change the length of one brachiation step by joints, it has complex structures and generates aperiodic motions such as chaos. In contrast, the single-rod brachiation robot has the advantages of simple structure and the ability to suppress complex multiplependulum trajectories. The single-rod brachiation robot has a disadvantage because it is difficult to adjust the distance to the next bar. However, we can solve it by aerial brachiation, which includes an aerial phase before grasping the next bar. Using the actual robot, we showed that the swinging amplitude could be increased by appropriately moving its center of gravity like a trapeze motion. In addition, using this, we achieved continuous brachiation across three bars and brachiation including the aerial phase with a flight distance of 140 mm.
In this work we analyze robot motion given from the UTIAS Multi-Robot Dataset. The dataset contains recordings of robots wandering in a confined environment with randomly spaced static landmarks. After some preprocess...
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ISBN:
(纸本)9783319688558;9783319688541
In this work we analyze robot motion given from the UTIAS Multi-Robot Dataset. The dataset contains recordings of robots wandering in a confined environment with randomly spaced static landmarks. After some preprocessing of the data, an algorithm based on the Extended Kalman Filter is developed to determine the positions of robots at every instant of time using the positions of the landmarks. The algorithm takes into account the asynchronous time steps and the sparse measurement data to develop its estimates. These estimates are then compared with the groundtruth data provided in the same dataset. Furthermore several methods of noise estimation are tested, which improve the error of the estimate for some robots.
The present state of sensors and sensing systems in robotics is considered from the standpoint of the evolution of robots. Also, the Japanese national robot projects are reviewed with special emphasis on the large-sca...
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ISBN:
(纸本)0879425857
The present state of sensors and sensing systems in robotics is considered from the standpoint of the evolution of robots. Also, the Japanese national robot projects are reviewed with special emphasis on the large-scale national project 'Advanced Robot Technology' in hazardous environments. This project is considered to be the key link to the third generation of robotics. Since this project was successfully completed at the end of 1990, plans for the nextgeneration of robotics are now being formulated. Several plans toward the nextgeneration, e.g., space robotics, micro robotics, robots for natural disaster prevention, and neurorobotics, are being examined. Sensors and sensing systems are expected to play an important role in the nextgeneration of robotics.
Service robots that interact with customers have penetrated various industries. With a basis in social identity theory, this study examines how customers respond to frontline service robots (FSRs) by investigating nor...
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Software robots are becoming increasingly adopted in different industries. The growing rate of automatization will affect more and more people and will result in changes in businesses of all sizes. Impacts can be obse...
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This paper discusses symbiosis between humans and networked communication robots from the viewpoint of communication media. The "network robot system" integrating ubiquitous networking and robot technologies...
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ISBN:
(纸本)9788986510089
This paper discusses symbiosis between humans and networked communication robots from the viewpoint of communication media. The "network robot system" integrating ubiquitous networking and robot technologies, is introduced in order to improve performance for sensing and human robot interaction and create brand new markets in the robot services. The communication robots in the system have come into greater use by being networked with humans, mobile phones and ubiquitous sensors (cameras, tags, wearable computers, etc.). This paper also introduces several field experiments with the system at elementary schools, at a science museum, at a train station. The results of field experiments indicate the potential of networked communication robots as next-generation communication media.
Soft robotics requires effective tools to educate the nextgeneration of engineers and researchers. Stemming from a lack of universally accepted principles for education and with high barriers to entry in terms of fab...
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ISBN:
(纸本)9781665491907
Soft robotics requires effective tools to educate the nextgeneration of engineers and researchers. Stemming from a lack of universally accepted principles for education and with high barriers to entry in terms of fabrication and hardware, education to date has been highly ad hoc. We present a low-cost toolkit based on re-configurable balloon which allows rapid development of soft yet functional robots. This provides practical demonstrations of key soft robotic principles including: morphology, stiffness control, controller dependencies and modulation of environmental interactions, while grounding robot behaviours in fundamental mechanical models. We provide a framework for assembling balloon structures, incorporating actuation and exploring interactions. A diverse set of robots have been developed to show the potential to use this balloon-bots for educational activities for undergraduate teaching or below. In particular, different modes of locomotion are shown using robots each of which has an assembly time under 5 minutes. These robots can teach skills ranging from component integration and implementation, to key soft robotic design principles and embodied intelligence.
This paper presents the analysis of an anthropomorphic robot as an active variable stiffness generator, with emphasis on the degeneracy in stiffness generation, First, the attachment of mono-/bi-articular muscles are ...
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ISBN:
(纸本)0780366123
This paper presents the analysis of an anthropomorphic robot as an active variable stiffness generator, with emphasis on the degeneracy in stiffness generation, First, the attachment of mono-/bi-articular muscles are optimized to maximize the dynamic ranges of the self and the coupling joint stiffness. Based on the geometric interpretation of the joint stiffness, a simple and effective way of determining the optimal muscle attachment is presented. next, the cause of the semi-degeneracy in stiffness generation is identified as the sign inconsistency of the actual and the desired coupling joint stiffness. Using the configurational dependency of the actual coupling joint stiffness, the semi-degeneracy map over the entire joint space is obtained. Simulation results are also given.
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