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...

In this paper, the robot with three wheels is implement and its motion is controlled . two of robot’s wheels are activated by DC motors. The main PID controllers are implemented with a Field Programmable Gate Array(FPGA) for independent robot movement . a FPGA controller communicate with a PC with PCI card(PLX9052) so that the movement of wheels can be displayed on the monitor through PCI card ...

A miniature wall climbing robot equipped with two smart robotic feet (SRF) is developed and tested. It is controlled autonomously by a PIC16F876 microcontroller and a 6 volt power supply onboard. Each SRF contains a suction cup with a diameter of 40 mm, a vacuum pump, a pressure sensor, and a micro valve. The robot’s motion is driven by two servo motors which are electronically linked and synch...

Andrea Bajo successfully defended his Ph.D. dissertation on 3/15/2013. His dissertation titled " Control, Sensing, and Telemanipulation of Surgical Continuum Robots" presents contributions in the areas of contact detection and estimation of contact location for continuum robots, hybrid force/motion control for continuum robots, and constrained telemanipulation of continuum robots. Algorithms de...

A millimeters size omni-directional mobile micro-robot is presented in this paper. A unique duel-wheel structure is designed for no-slip motion during the steering, by turning the slip friction between the wheel and ground into rolling friction. The robot was driven by four electromagnetic micromotors with 2.1mm×2.1mm×1.3mm size. Three of them are for translation and the other one is for rotati...

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...

Scale down robots with propeller propulsion mechanisms are promising tools for minimally invasive surgery, diagnosis, targeted therapy, drug delivery and removing material from human body. Understanding the movement of micro robots inside fluid-filled channels is essential for design and control of reduced robots inside arteries and conduits of living organisms. Three-dimensional governing part...

This paper describes the design and testing method of a micro robotic detector. The detector was implemented with capacitors. The chip employs the concept of an ultrasonic rangefinder. The fly can detect and locate objects in all directions easily. The micro robot needs to have this capability. In order to implement this, detectors was built to resemble a “soccer ball”. A robust fabrication pro...

We give an overview of the EPFL indoor flying project, whose goal is to evolve neural controllers for autonomous, adaptive, indoor micro-flyers. Indoor flight is still a challenge because it requires miniaturization, energy efficiency, and control of nonlinear flight dynamics. This ongoing project consists of developing a flying, vision-based micro-robot, a bio-inspired controller composed of a...