In this paper, the authors describe the design of a bendable robotic tip for semi-autonomous colonoscopy called COLOBOT. It is a flexible robotic manipulator made of silicone rubber in view of the compact size and safety compatibility in the medical context. The outer diameter of the tip is 17 mm which is lesser than the average diameter of colon (20mm). Three servo-valves are used to control t...

For the control of robot arm a medical delivery robot, firstly, forward kinematic equations this 7-degree-of-freedom redundant are constructed according to modified D-H method. Secondly, analytical solution inverse kinematics robotic is solved using parameterised angle. Thirdly, simulation experiments were carried out by gazebo and RVIZ in ROS verify correctness process. Finally, Monte Carlo me...

in this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. it is assumed that the robot performs navigation in unknown environment and builds the map through slam procedure. since the moving objects' location and properties are unknown, they are identified and tracked by kalman filter. kalm...

In the field of robotics, soft robots have been showing great potential in areas medical care, education, service, rescue, exploration, detection, and wearable devices due to their inherently high flexibility, good compliance, excellent adaptability, natural safe interactivity. Pneumatic occupy an essential position among because features such as lightweight, efficiency, non-pollution, environm...

Abstract Robotics technology is growing and being applied in various fields such as education, industry, household, health. In the world of health, mobile robots are one robotics technologies that can provide solutions to overcome problem treatment carried out on patients infected with infectious diseases. With medical assistant robot, efforts be by not making direct contact nurses so risk cont...

The objective of this paper is path planning of a 3 DOF planer robot with hydraulic actuator using genetic algorithm. First the geometric and kinematic parameters of robot were established. The equations of motion are derived by Lagrange method. We proposed the model for proportional valve and hydraulic actuators. Then using the genetic algorithm we minimized the hydraulic energy consumption as...