Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

Offline programming will be made for simulating the end-effector motion of a 3-axis Cartesian robot to figure out whether it could be positioned within the bound of peg-in-hole working condition or not. The 3axis Cartesian robot is for handling glass lenses of both digital cameras and cellular phone cameras of which needs are gradually increasing worldwide. The endeffector of robot has a vacuum...

This article reports on the design, analysis and control of a new type of wheeled mobile robot based on a nonholonomic spherical continuously variable transmission (S-CVT). Our S-CVT based mobile robot is designed to increase the run time (i.e., the length of time in which the robot can be operated), and to achieve full planar accessibility with the design of a novel pivoting device that takes ...

Spherical robots are a recent technique and have attracted attention due to their capacity move at high speeds while maintaining great locomotion efficiency. Many research studies been undertaken on spherical robots’ driving mechanisms, motion planning, trajectory tracking systems, but only few completed obstacle avoidance capacity. Its interfering prevention method was “hit run” the existence ...

This paper investigated the ability of a hybrid time-delayed artificial neural network (TDANN)/autoregressive TDANN (AR-TDANN) to predict clenching movements during mastication from surface electromyography (SEMG) signals. Actual jaw motions and SEMG signals from the masticatory muscles were recorded and used as output and input, respectively. Three separate TDANNs/AR-TDANNs were used to predic...