Using a team of small, sensor-rich robots and a larger, Parent robot, we have explored the problem of how to enable flexible, adjustable autonomy control for a multi-robot remote characterization task. To accomplish the task, the robot team must autonomously deploy into a building, efficiently search through corridors and rooms to locate a spill, and then cooperatively form a perimeter around a...

in this research optimal reconfiguration strategy of the improved srr reconfigurable mobile robot based on force-angle stability measure has been designed using genetic algorithm. path tracking nonlinear controller which keeps robot’s maximum stability has been designed and simulated in matlab. motion equations of the robot have been derived in parametric form by means of newton- euler, lagrang...

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

in recent years many researches are carried out to develop robots for agricultural applications. one of the main steps in agricultural robot fabrication is the generation of guidance signals. the objective of this research was a feasibility study of ultrasonic sensors in generating guidance signals to determine the position and orientation of a mobile robot for greenhouse applications. a series...

In outdoor scenes, polarization of the sky provides a significant clue to understanding the environment. The polarized state of light conveys the information for obtaining the orientation of the sun. Robot navigation, sensor planning, and many other application areas benefit from using this navigation mechanism. Unlike previous investigations, we analyze sky polarization patterns when the fish-...

This paper presents a study on bioinspired closed-loop Central Pattern Generator (CPG) based control of robot fish for obstacle avoidance and direction tracking. The biomimetic is made rigid head with pair pectoral fins, wire-driven active body covered soft skin, compliant tail. CPG model consists four input parameters: the flapping amplitude, angular velocity, offset, time ratio between beat p...

In Nature, fish have the ability to localize prey, school, navigate, etc., using the lateral-line organ. Artificial hair flow sensors arranged in a linear array shape (inspired by the lateral-line system (LSS) in fish) have been applied to measure airflow patterns at the sensor positions. Here, we take advantage of both biomimetic artificial hair-based flow sensors arranged as LSS and beamformi...

Obstacles and swimming fish in flow create a wake with an alternating left/right vortex pattern known as a Kármán vortex street and reverse Kármán vortex street, respectively. An energy-efficient fish behavior resembling slaloming through the vortex street is called Kármán gaiting. This paper describes the use of a bioinspired array of pressure sensors on a Joukowski foil to estimate and contro...

Based on the RHHex hexapod robot, the AQUA robot is an aquatic robot that swims via the motion of its legs, rather than using thrusters and control surfaces for propulsion. Through an appropriate set of gaits, the AQUA vehicle is capable of five-degree-of-freedom motion in the open water, it can swim along the surface and it can walk along the seabed. The vehicle itself is augmented with a vari...

The performance of the steady-turning while swimming, and sharp-turning motion algorithms a biomimetic underwater robot in form fish is presented this work. biological modelled Mackerel - Scomber scombrus. It’s patterns are precalculated programmed into its firmware as an inflexible algorithm to save power consumption due continuous motor position recalculations. tail six segments plywood panel...