quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

Extensive wind tunnel tests are conducted to evaluate surface pressure distribution of a semi span swept wing. The wing section has a laminar flow airfoil similar to NACA 6-series airfoils. The investigations are conducted at various speeds and angles of attack. Surface pressure distribution over the wing upper surface is measured for both chordwise and spanwise sections. Statistical analyses a...

Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

A simple easy to implement algorithm is proposed to address wall tracking task of an autonomous robot. The robot should navigate in unknown environments, find the nearest wall, and track it solely based on locally sensed data. The proposed method benefits from coupling fuzzy logic and Q-learning to meet requirements of autonomous navigations. Fuzzy if-then rules provide a reliable decision maki...

This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...

Flying is an ecologically important behaviour in many insects, but it often results in permanent wing damage. Although wing wear in insects is often used as a method to determine insect age, and is associated with an increased risk of mortality, the causes of wing wear are unresolved. In this paper, we examine whether wing use while foraging explains wing wear in bumble bees (Bombus spp.). Wing...

a general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. the robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. the curvatures in pipeline are the most important constraints in front of the robot through navigation process. to study the adapt...

Abstract The sampling and monitoring of nature have become an important subject due to the rapid loss green areas. This work proposes a possible solution for method leaves using ornithopter robot equipped with onboard 94.1 g dual-arm cooperative manipulator. One hand is scissors-type arm other one gripper perform collection, approximately similar operation by human fingers. In move toward auton...

Let (x, y, z) be a rectangular coordinate system, with +x in the direction of the undisturbed freestream flow velocity, +y normal to the plane of the thin wing, and z in the direction of the " span " of the wing. The wing is located on the y = 0 plane, " centered " at z = 0. We are given a large aspect ratio wing with the following information: Planform of the wing is described by c(z), the cho...