A new type of backbone robot is presented in this paper. The core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. Although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. This design does not suffer from the weaknesses of the continuum design suc...

Many industrial robot arms are operated in industry, and some robotic applications in the industry, such as a pulling-out of products made by die casting, require the flexible motion excited by an external force. Here, the flexible motion means that the robot arm moves passively according to the external force. Industrial robot arms, however, are difficult to be moved by the external force beca...

In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...

The key motions of land and water are analyzed for a designed amphibious carrier robot. On land, based on the characteristics multi-joint crawler, robot has planned two gaits climbing steps land. kinematic models established gaits, maximum height that can climb is obtained based, Based laws dynamics, stability equation under strong transient impact to obtain conditions maintain its own when dur...

We present an automated planning application for generating 3D tasks demonstrations involving a teleoperated robot arm on the International Space Station (ISS). A typical task demonstration involves moving the robot arm from one configuration to another. Our objective is to automatically plan the position of virtual cameras to film the arm in a manner that conveys the best awareness of the robo...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

Research show that we are more skeptical of the machines than fellow humans. They also find reluctant to change this perception in spite possibility for increased efficiency through cooperative engagement with them. However, these findings primarily focused on algorithmic agents may not readily be attributable case robots. To fill gap, present study investigated whether background information a...

In this paper we present a mobile robot system that is capable of automating the sample management in a biotechnological laboratory. The system consists of a mobile platform and a robot arm. It can navigate freely in the laboratory and operate standard devices needed for the sample management. The platform uses an extended Kalman filter for localization and the A∗ algorithm for path planning on...

This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and interna...