This paper presents a method for the autonomous calibration of six degrees-of-freedom parallel robots. The calibration makes use of the motorized prismatic joint positions corresponding to some sets of configurations where in each set either a passive Universal joint or a passive Spherical joint is fixed using a lock mechanism. Simulations give us an idea about the number of sets that must be u...

Knowledge of the human multi-joint arm viscoelastic properties is essential in the assistance of building human-like robots. In this paper, a robust estimation method of human multi-joint arm viscoelasticity during natural movement is reviewed, a human arm-like robot control scheme using the measured viscoelasticity from estimation method is proposed. In order to imitate how to adjust the human...

According to bionics and simplified octopus structure, this paper designed a universal mobile quadruped robot and adopted Denavit-Hartenberg system to analyze the single leg kinematics of a robot, obtaining its kinematics equation. Also, through the method of separating variables, this paper solved its inverse kinematics and got the joint angle. A walking gait is planned and the joint angle of ...

Localization capabilities are necessary for autonomous robots that need to keep track of their positionwith respect to a surrounding environment. A pursuit robot is an autonomous robot that tracks and pursues a moving target, requiring accurate localization relative to the target’s position and obstacles in the local environment. Small unmanned ground vehicles (SUGVs) equipped with a monocular ...

This thesis describes the design and implementation of a Walking Algorithm for the humanoid robot. The humanoid is intended to be an autonomous robot, and has a total of 6 degrees of freedom coming from the hip joint, knee joint and ankle joint for each leg. The aim of this thesis project is to develop a walking pattern to control and walk in a stable manner. Exploit methods for developing a na...

Space robots having manipulators are expected to work in future space missions (Xu & Kanade, 1993). Since it is difficult to supply fuel to the robots equipped with rocket motors during manipulation, control methods for free-floating space robots consisting of a base and a manipulator have been proposed (Dubowsky & Papadopulos, 1993; Masutani et al., 1989a;b; Sagara et al., 1998a;b; Shin et al....

Robots are currently the center of attention in various fields research because their potential use as assistants for daily living. In this article, I highlight a different role that robots can play—being tool understanding human cognition. provide examples which have been used experimental psychology to study sociocognitive mechanisms such joint and sense agency. also discuss issue whether whe...