Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...

Motion detection and tracking is a relevant problem for mobile robots during navigation to avoid collisions in dynamic environments or in applications where service robots interact with humans. This paper presents a simple method to distinguish mobile obstacles from the environment that is based on applying fuzzy threshold selection to consecutive two-dimensional (2D) laser scans previously mat...

Personal service robots assisting humans in daily life are expected to provide a user-oriented service [1]. To meet this expectation, there has been much research on behavior selection algorithms for the proper service. The action selection method was proposed to activate a most appropriate action in a certain situation [2]. The behavior selection method for artificial creatures considering bot...

in this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. it is assumed that the robot performs navigation in unknown environment and builds the map through slam procedure. since the moving objects' location and properties are unknown, they are identified and tracked by kalman filter. kalm...

Conventionally, mobile robots are controlled through an action selection mechanism (ASM) that chooses among multiple proposed actions. This choice can be made in a variety of ways, and ASMs have been developed that demonstrate many of them, from strict priority schemes to voting systems. We take a different approach, which we call concurrent control. Abandoning explicit action selection, we rel...

Autonomous Underwater Vehicles (AUV) represent a challenging control problem with complex, noisy, dynamics. Nowadays, not only the continuous scientific advances in underwater robotics but the increasing number of sub sea missions and its complexity ask for an automatization of submarine processes. This paper proposes a high-level control system for solving the action selection problem of an au...

Humanoid robots become increasingly sophisticated, both in terms of their movement as well as their sensorial capabilities. This allows to target for more complicated problems, eventually leading to robotic systems that can perform useful tasks in every days environment. In this paper, we will give an overview on some elements we consider to be important for a movement control and planning arch...

Learning by imitation is a powerful form of learning. Different forms of imitation, like mimicry, copying, response facilitation, etc. have been studied extensively (Miklosi 1999). Recent research in robotics has begun to explore imitation as a means to allow complex robots, like humanoid robots, acquire new skills (Swinson & Bruemmer 2000). One of the key issues in imitation learning is the co...

In order to further improve the ability of global path planning of coal mine rescue robot in the complex environment, a bacterial foraging algorithm-based polyclonal selection algorithm (BFA-PSA) is proposed. In order to verify the superiority of the BFA-PSA, the proposed algorithm is tested by traveling salesman problem (TSP) and compared with genetic algorithm (GA) and clonal selection algori...