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...

We propose a method for learning models of people’s motion behaviors in indoor environments. As people move through their environments, they do not move randomly. Instead, they often engage in typical motion patterns, related to specific locations that they might be interested in approaching and specific trajectories that they might follow in doing so. Knowledge about such patterns may enable a...

This paper proposes a method that acquires the purposive behaviors based on the estimation of the state vectors. In order to acquire the cooperative behaviors in multi robot environments, each learning robot estimates local predictive model between the learner and the other objects separately. Based on the local predictive models, robots learn the desired behaviors using reinforcement learning....

A mobile robot is deployed to search for a stationary target that intermittently emits short duration signals. The searching mission is accomplished as soon as the robot receives a signal from the target. However, the robot cannot perceive the signal unless the target is within its limited sensing range. Therefore, the time to search the target is inherently random and hence unknown despite its...

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Cerebellar models have long been advocated as viable models for robot dynamics control. Building on an increasing insight in and knowledge of the biological cerebellum, many models have been greatly refined, of which some computational models have emerged with useful properties with respect to robot dynamics control. Looking at the application side, however, there is a totally different picture...

This paper describes how environmental complexity measures can be employed in the process of validating experimental robotics work. We advocate the use of metrics that attempt to quantify the “difficulty” in movement for a given environment. Both space syntactical methods (from the urban and building design literature) and fluid-flow models (used in crowd modelling) are introduced as relevant t...