This paper presents an anthropomorphic robot hand called the Gifu hand II, which has a thumb and four fingers, all the joints of which are driven by servomotors built into the fingers and the palm. The thumb has four joints with four-degrees-of-freedom (DOF); the other fingers have four joints with 3-DOF; and two axes of the joints near the palm cross orthogonally at one point, as is the case i...

Robot manipulator play important role in the field of automobile industry, mainly it is used in gas welding application and manufacturing and assembling of motor parts. In complex trajectory, on each joint the speed of the robot manipulator is affected. For that reason, it is necessary to analyze the noise and vibration of robot's joints for predicting faults Also improve the control precision ...

Many industrial applications require inspections and surveillance in hard-to-reach and sometimes even hazardous areas. A relatively new kind of robotic mechanism, called a “serpentine robot,” may be able to provide a solution to some of these applications. Serpentine robots are slender, multisegmented vehicles designed to provide greater mobility than conventional wheeled or tracked robots. Thi...

This project addresses the design and development of an amphibious salamander robot based on the 3D kinematic data obtained from the skeleton of a real salamander. To date, studies on kinematic data have used conventional methods (e.g. markers on body) to track the body movements while focusing either on limbs or the spine. However, no study has concentrated on the kinematics of the skeleton to...

A neural network mechanism is proposed to modify the gait of a biped robot that walks on sloping surfaces using sensory inputs. The robot climbs a sloping surface from a level surface with no priori knowledge of the inclination of the surface. By training the neural network while the robot is walking, the robot adjusts its gait and finally forms a gait that is as stable as when it walks on the ...

A robot finger is developed for five-fingered robot hand having equal number of DOF to human hand. The robot hand is driven by a new method proposed by authors using ultrasonic motors and elastic elements. The method utilizes restoring force of elastic element as driving power for grasping an object, so that the hand can perform the soft and stable grasping motion with no power supply. In addit...

Central pattern generator (CPG) is defined here as a neural network responsible for the production of the timing cues of a rhythmic motor output pattern. In biological system, the CPG is a network of neurons that generate the rhythmic movements such as locomotion of animals. This rhythmic movement will induced a coordination of physical parts that necessary for stable locomotion. To implement t...

In this paper, a new design method considering a desired workspace and swing range of spherical joints of a DELTA robot is presented. The design is based on a new concept, which is the maximum inscribed workspace proposed in this paper. Firstly, the geometric description of the workspace for a DELTA robot is discussed, especially, the concept of the maximum inscribed workspace for the robot is ...

In actual work, the system parameters of robot joints will change in real time or cannot be measured, and coupling relationship between various subsystems existence modeling errors make model difficult to determine. Based on such problems, a neural network observation is proposed Decentralized control method for robot. manipulator, firstly, each joint subsystem established by decentralized theo...