Human beings, animals and some birds use their legs to move with great mobility, but we do not yet have a full understanding of their motion mechanism. The reason is that we lack man-made robots that use legs to obtain high mobility. We, especially, need two-legged robots that are able to adapt to human living environments such as offices and homes. In order to analyze a human walking mechanism...

We report an experimental highdelity system for making psychophysical measurements on human operators performing real, virtual, and real-remote 3D haptic manipulation tasks. Operators interact with task environments through six-degree-of-freedom (6-DOF) Lorentz magnetic levitation haptic devices. This arrangement allows the operator to exert and experience real, virtual, and real-remote forces/...

In this letter, we propose a real-time self-collision avoidance approach for whole-body humanoid robot control. To achieve this, learn the feasible regions of control in humanoid's joint space as smooth boundary functions. Collision-free motions are generated online by treating learned functions constraints Quadratic Program based Inverse Kinematic solver. As geometrical complexity grows with n...

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

Although industrial robots are common, a higher degree of manipulability might be required to expand the applications manipulators in field medicine. Modifying mechanical design robot as per workspace can perceived an optimization problem. Hence, novel spatial manipulator is designed for diagnostic apparatus using different algorithms. Standard Genetic Algorithm (SGA) and GA (Genetic Algorithm)...

In this paper OmniKity-III (OK-III), a novel wheeled omni-directional mobile robot is developed and its kinematic model and control laws are derived. A special gear train was developed to have omnidirectional mechanism using conventional tire wheels. Several control laws are provided by considering the robot as a redundantly actuated wheeled mobile robot (WMR) on the plane. Since the robot has ...