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...

Incorporation of van der Waals interactions enables the continuum model of electrodiffusion in biomolecular system to avoid the artifacts of introducing a molecular surface and the painful task of the surface mesh generation. Calculation examples show that the electrostatics, diffusion-reaction kinetics, and molecular surface defined as an isosurface of a certain density distribution can be ext...

In this paper, we develop a macroscopic model for pedestrian flow using the dynamic continuum modeling approach. We consider a two-dimensional walking facility that is represented as a continuum within which pedestrians can move freely in any direction. A pedestrian chooses a route based on his or her memory of the shortest path to the desired destination when the facility is empty and, at the ...

This letter discusses a novel static control approach applied to magnetic soft continuum robot (MSCR). Our aim is demonstrate the of multi-magnet (SCR) in 3D. The proposed controller, based on simplified yet accurate model robot, has high update rate and capable real-time shape control. For actuation MSCR, we employ dual external permanent magnet (dEPM) platform sense via fiber Bragg grating (F...

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...

Leveraging techniques pioneered by the SLAM community, we present a new filtering approach called simultaneous compliance and registration estimation or CARE. CARE is like SLAM in that it simultaneously determines the pose of a surgical robot while creating a map, but in this case, the map is a compliance map associated with a preoperative model of an organ as opposed to just positional informa...

This paper presents experimental analysis of wheeled mobile robots. Mathematical modelling of the mobile robot is presented. The mobile robots consist of an omni-directional and three differential drive mobile robots are tested and moved in given trajectories and the systematic errors of the robots are determined. A new method for omni-direction mobile robot was introduced in which the robot wa...

Reinforcement Learning (RL) algorithms have achieved remarkable performance in decision making and control tasks by reasoning about long-term, cumulative reward using trial error. However, during RL training, applying this trial-and-error approach to real-world robots operating safety critical environment may lead collisions. To address challenge, letter proposes a Reachability-based Trajectory...