The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

Abstract To reduce potential trauma to the intestine caused by rigid shell while also optimising its progression efficiency, an elastomer coating was applied a self-propelled capsule robot for small-bowel endoscopy. The is periodically excited inner mass interacting with main body of in presence intestinal resistance. This work explored dynamic responses different coatings (i.e., elastic moduli...

Currently, robot applications have been fast expanding to many areas such as entertainment, home task, security, medical care, etc. With an increasing robot demand, the development of highly reliable and low-cost robot control system has become a hot research field in recent years. However, most robot control system requires special interface design or suffers from complexity or high cost. This...

Abstract Robot-assisted surgery (RAS) has been widely accepted in the clinical routine around world with a focus on urology, gynecology and general surgery. Even transoral robotic (TORS) is applied regular basis some specialized medical centers. However, anatomical constraints delicate procedures at anterior skull base prevent introduction of RAS until today. We have performed an extended liter...

Medical robotics can be split in subfields depending on who has to be assisted by a robot; it can be:-The hospital: for instance for patient transportation and handling,-the patient: by providing him/her robotized prostheses or artificial organs, rehabilitation aids or assistance for every day tasks,-the clinician: by assisting his diagnostic or therapeutic tasks. This short note focuses on the...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

This article has focused on evaluation and identification of effective parameters in positioning performance with an odometry approach of an omni-directional mobile robot. Although there has been research in this field, but in this paper, a new approach has been proposed for mobile robot in positioning performance. With respect to experimental investigations of different parameters in omni-dire...