Closed-loop, asymptotically stable walking motions are designed for a 5-link, planar bipedal robot model with one degree of underactuation. Parameter optimization is applied to the hybrid zero dynamics, a 1-DOF invariant subdynamics of the full robot model, in order to create asymptotically stable orbits. Tuning the dynamics of this 1 DOF subsystem via optimization is interesting because asympt...

The types of mobile robot can be roughly divided into three categories, wheeled type, crawler type and legged type. In these types, walking machine (legged type robot) has some of noteworthy strong points that other types of mobile robot don't have. Especially, high adaptability to the terrain is one of the most important strong points of walking machine. The fact that general type of walking m...

A robot finger is developed for five-fingered robot hand having equal number of DOF to human hand. The robot hand is driven by a new method proposed by authors using ultrasonic motors and elastic elements. The method utilizes restoring force of elastic element as driving power for grasping an object, so that the hand can perform the soft and stable grasping motion with no power supply. In addit...

Micromanipulation robots are powerful tools to explore and reform the microscope world, but it is difficult integrate high precision, long stroke, strong carrying capability, multi-degree of freedom (DOF) motions in a single robot. To address this challenge, herein bioinspired hexapod piezoelectric robot (PER-hexapod) aiming at high-performance micromanipulation presented. Specifically, two ele...

The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel...

This paper addresses the problem of controlling a mobile robot using a small, portable user interface. In some applications, including security and military, a user might command a mobile robot in the field using a wearable computer. The wearable computer may have a small display that would make information delivery difficult. Also, full video feedback from the robot may not be available due to...

This paper presents the first prototype of a magnetic resonance imaging (MRI) compatible piezoelectric actuated robot integrated with a high-resolution fiber optic sensor for prostate brachytherapy with real-time in situ needle steering capability in 3T MRI. The 6-degrees-of-freedom (DOF) robot consists of a modular 3-DOF needle driver with fiducial tracking frame and a 3-DOF actuated Cartesian...

Blinking and eye movement are one of the most important abilities that most people have, even people with spinal cord problem. By using this ability these people could handle some of their activities such as moving their wheelchair without the help of others. One of the most important fields in Human-Robot Interaction is the development of artificial limbs working with brain signals. The purpos...

This paper studies the effects of three methods of kinematic redundancy resolution on teleoperation performance with a redundant slave robot in telemanipulation. First, we derived three kinematic redundancy control modes expressing different trade-offs between kinetic energy level, joint usage, and joint limit avoiding. To validate our algorithms we performed simulations, autonomous robot tests...