The Mine Detection Robot supports the mine removal work in countries where mines are buried, such as Afghanistan. The development started from September, 2003. Considering running on rough terrains, the robot has four crawlers, and hydraulic motors in front and rear were serially connected by piping so that they could rotate synchronously. Two work arms were mounted on the robot, one was a hori...

This paper presents the link mass optimization of a serial robot manipulator based on minimum joint torque requirements that is primary concern in the industrial robot applications. The optimization of link mass globally minimizes joint torques weighted by inverse of inertia matrix. Genetic algorithm (GA) was used to optimize energy produced by robot manipulator. The influences of GA parameters...

This article introduces a biologically inspired modular swimming robot. Due to defi ned interfaces in mass, energy, and information fl ux, the robot’s swimming behavior is changeable: an undulant, successive called anguilliform as well as a thunniform swimming mode is adjustable. Unlike the current state of the art, the robot comes with specifi c designed mechanics for the reduction of the comp...

Experimental robot identi cation techniques can principally be divided into two categories, based on the type of models they use: internal or external. Internal models relate the joint torques or forces and the motion of the robot; external models relate the reaction forces and torques on the bedplate and the motion data. This paper describes how internal and external robot models can be combin...

We propose a decentralised variant of Monte Carlo tree search (MCTS) that is suitable for a variety of tasks in multi-robot active perception. Our algorithm allows each robot to optimise its own individual action space by maintaining a probability distribution over plans in the joint-action space. Robots periodically communicate a compressed form of these search trees, which are used to update ...

In this paper, a composite approach to the adaptive neural network (NN) controller is proposed for a rigid link flexible joint (RLFJ) robot manipulator with unknown nonlinearities. Based on a singular perturbation formulation of robot motion dynamics, the RLFJ robot is described by a reduced-order flexible-joint model. The concept of integral manifold is used to decompose the model into fast an...

concept of 'manipulability' is particularly important to characterize the ability of a serial kinematic chain – artificial manipulator or natural limb – to move quickly its end-effector in any direction of its operational space in response to given joint velocities. Yoshikawa's manipulability definition has shown its benefit for robotics. According to him the robot manipulability can be measure...

This paper addresses issue of flexible object manipulation by using robot arms. The main objective is to establish a suitable control system of the robot for performing flexible object manipulation tasks. A force sensor equipped at the wrist of the robot arm is used to measure the vibration of the flexible object. A vibration control scheme is designed based on linear feedback of vibration meas...