The bipedal structure is one of the most versatile ones for the employment of walking robots. The biped robot has almost the same mechanisms as a human and is suitable for moving in an environment which contains stairs, obstacle etc, where a human lives. However, the dynamics involved are highly nonlinear, complex and unstable. So it is difficult to generate human-like walking motion. To realiz...

Abstract Quadcopter is the Unmanned Aerial Vehicle that can vertical tack off and landing. its useful platform for many applications in Commercial, civil or military . In this article ,we present  the Dynamics and Kinematics model of  quadcopter  and the effect of forces by introducing two frames on the ground and it’s body, also we design and implement the PID controller t...

interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant velocity change which occurs at the time of collision of the biped swing leg with the ground. We first characterize the bipedal walking cycle and point out some major issues that need to be addressed to plan a continuous swing leg trajectory by using the concept of...

This paper show an advanced computer graphic techniques for laser range finder (LRF) simulation. The LRF is the common sensor for unmanned ground vehicle, autonomous mobile robot and security applications. The cost of the measurement system is extremely high, therefore the simulation tool is designed. The simulation gives an opportunity to execute algorithm such as the obstacle avoidance[1], sl...

When an outdoor mobile robot traverses different types of ground surfaces, different types of vibrations are induced in the body of the robot. These vibrations can be used to learn a discrimination between different surfaces and to classify the current terrain. Recently, we presented a method that uses Support Vector Machines for classification, and we showed results on data collected with a ha...

This paper proposes a new method of position correction for a mobile robot on rough terrain. The strong point of our method is that no external sensor is needed for position correction. The information about position correction is derived from comparing between the estimated position and elevation map of the terrain by using the knowledge that the robot must touch the ground. Some experimental ...