39 ISSN 1729‐8806, pp. 41‐50 Design, Modeling and Control of a Biped Line-Walking Robot Ludan Wang1, Fei Liu1, Shaoqiang Xu1, Zhen Wang1, Sheng Cheng1 and Jianwei Zhang1,2 1Laboratory of Intelligent Robot Engineering, Kunshan Institute of Industry Research, Kunshan, China 2TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany [email protected] Abstract: The subject of t...

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...

Continuum robots have been the subject of extensive research due to their potential use in a wide range of applications. In this paper, we propose a new continuum robot with three backbones, and provide a unified analytic method for the kinematics and dynamics of a multiple‐backbone continuum robot. The robot achieves actuation by independently pulling th...

|A new service robot designed for cleaning tasks in home environments is introduced. Robot systems will work directly with people in there areas, thus placing a central importance on making interactions between people and machines as natural as possible. The main focus of this paper is twofold: First, an introduction to the system's design and to an intuitive programming approach which allows t...

This paper presents the design of a novel quadruped robot. The proposed design is characterized by a simple, modular design, and easy interfacing capabilities. The robot is built mostly from off-the-shelf components. The design includes four 3-DOF legs, the robot body and its electronics. The proposed robot is able to traverse rough terrain while carrying additional payloads. Such payloads can ...

This paper presents an iterative algorithm to find a inverse kinematic solution of 5-DOF robot. The algorithm is to minimize the iteration number. Since the 5-DOF robot cannot give full orientation of tool. Only z-direction of tool is satisfied while rotation of tool is determined by kinematic constraint. This work therefore described how to specify the tool direction and let the tool rotation ...

This paper describes a new parallel robot with 6 degree of freedom (dof) and decoupled kinematics. The robot is composed of six legs with actuated prismatic joints; three legs control the spatial position of the center of the mobile platform, while the remaining legs are used to define the end effector orientation. The decouple kinematics is obtained by using a new approach for a triple spheric...

In this paper, the problem of minimum-time trajectory planning is studied for a three degrees-offreedom (3-DOF) planar manipulator using a hierarchical hybrid neuro-fuzzy system. A first preprocessing step involves two components. The first component is NeFIK (for Neuro-Fuzzy Inverse Kinematics), a neuro-fuzzy network designed to learn and solve the inverse kinematics problem. The second one is...

Most successful state-of-the-art robo-tic manipulators have the characteristic of producing precise, fast, smooth and reproducible movements. Their drawback is that they tend to have a limited repertoire which can only be extended by costly inverse kinematics calculations or direct teach-in sessions. The goal of our project is to develop a exible open world robot , which adapts to its task and ...