Development of robots for selling. Introduction of Horizontally Articulated Clean Robots.

Collision-free Path Planning for Articulated Robots

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for articulated robots. First, the configuration of a robot is designed using a set of robot joint angles derived from robot inverse kinematics. The joint space, which is made of a joint angle set, forms a Configuration space (Cspace). Obstacles in a robot work-cell are transformed into Cobstacles (obstacles...

Evolving Motion Controllers for Articulated Robots

Articulated robots have a much more complex relationship between motor outputs and locomotion than wheel robots have. We can simplify this relationship using an abstraction layer of cyclic motor outputs corresponding to different kinds of locomotion. One way to create these cyclic motor outputs is by evolving a controller network consisting of oscillators, motor output nodes, and weighted edges...

Articulated Wheeled Robots: Exploiting Reconfigurability and Redundancy

Articulated Wheeled Robotic (AWR) locomotion systems consist of chassis connected to a set of wheels through articulated linkages. Such articulated “leg-wheel systems” facilitate reconfigurability that has significant applications in many arenas, but also engender constraints that make the design, analysis and control difficult. We will study this class of systems in the context of design, anal...

Dynamics Compensation for the Control of Articulated Multi-Limb Robots

We describe a general approach for using linearizing feedforward control terms for large degree of freedom (dof) multi-limb robots operating in scenarios involving motion and force constraints and under-actuated dofs arising from the task and the environment. Our solution is general and has low computational cost needed for real-time control loops. It supports the tuning of the feedforward term...

Randomized preprocessing of configuration space for path planning: articulated robots