Swarming and modular robotic locomotion are two disconnected behaviours that a group of small homogeneous robots can be used to achieve. The use of these two behaviours is a popular subject in robotics research involving search, rescue and exploration. However, they are rarely addressed as two behaviours that can coexist within a single robotic system. Here, we present a bio-inspired decision m...

The force regulation and inevitable positional inaccuracy of traditional control system can be compensated by the compliance/stiffness mechanism. The compliance/stiffness of a robotic mechanism is usually modeled by a 6 by 6 symmetric positive definite matrix at an equilibrium point using screw theory. When an external wrench is exerted on the mechanism and the mechanism moves away from its equ...

We describe “robotic materials”, a new class of metamaterial that tightly integrate sensing, actuation, computation, communication and power routing in a periodic fashion. Instead of relying on a strict division between mechanism, sensors, and control system, robotic materials allow a unified approach to robot design, customization and manufacturing. Robotic materials shift the complexity of ma...

There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...

This paper presents a methodology for evaluating the performance of several types of striking mechanism commonly utilized in musical robotic percussion systems. The goal is to take steps towards standardizing methods of comparing the attributes of a range of devices to inform their design and application in various musical situations. A system for testing the latency, consistency, loudness and ...

This article presents a simulation-based strategy for sizing the actuators of a redundantly actuated robotic mechanism. The class of robotic mechanisms we consider may contain one or more closed loops and possess an arbitrary number of active and passive joints, and the number of actuators may exceed themechanism’s kinematic degrees of freedom. Our approach relies on a series of dynamic simulat...

In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

In this study, analytical techniques and fuzzy logic methods are applied to the dynamic modelling and efficient swimming control of a biomimetic robotic fish, which is actuated by an ionic polymer-metal composite (IPMC). A physical-based model for the biomimetic robotic fish is proposed. The model incorporates both the hydrodynamics of the IPMC tail and the actuation dynamics of the IPMC. The c...

Joint misalignment is a potential problem in robotic rehabilitation exoskeletons that can cause undesired disturbing forces. These forces can reduce the usability of such systems by constraining joint movements and by imposing uncomfortable or even harmful forces on the human. Different technical solutions to reduce the effect of misalignment are possible and in this paper we present one mechan...