Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

This paper describes the development of a Stewart platform-based robot force sensor with distinctive structure of ball joints. The number of ball joints is only a half of the similar style sensors, so it is possible to reduce size and weight of the sensor. The structure of ball joint is described and discussed. Furthermore, we use strain gauges, but not liner voltage differential transformers, ...

Ever since Lotka (1926) published his inverse square law of scientific productivity, both the nature and origin of the phenomenon have been investigated in the literature. Although the specific parameters of those functions which indicate what proportion of scientists produces what bulk of scientific products vary with different indices (Davis, 1941; Leavens, 1953; Price, 1963; Britton, 1964; A...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...

Recently, Taiwan and many developed countries have been experienced an emergence of growing aging population and decreasing working population and birth rate. The number of home-caring workers in need has surpassed that of available working force. Furthermore, the expense of home-caring elders will substantially increase. The employment of foreign workers is just a temporary solution. It is the...