snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...

Building a basketball robot is a recently launched project at the Institute of Automatic Control Engineering (LSR) for investigating fast manipulation with non-negligible dynamics and changing contact situation. This video presents some preliminary results of the project which is balancing a basketball on a plate. An aluminium plate of which the size is 25 × 40 cm is mounted on the end-effector...

Image-based servoing systems are often used to track moving targets and their underlying control architecture is a regulation of the image. This regulation is a function of rigid camera-to-target geometric constraints. Satisfying such constraints requires that the robot motors have suf ic ient velocity bandwidths, and often these bandwidths are limited. This p a p e r days down the foundation f...

Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challenging goal of imitating humanoid gait. This paper gives a very simple architecture of the biped robot have three degrees of freedom (DOF)in each leg, one DOF for hip joint and one corresponding to the knee and ankle joint respectively. Denavit-Hartenberg parameter is being used to obtain the solution f...

This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and interna...

This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamin...

Impedance scaling approach presented in this paper is specially developed for teleoperation robot control to meet requirements to control robots and mechatronic systems with completely different dimensions and mechanic characteristics than the human operator. It is applied to the developed RoTeMiNa robot system with 6 DOF and to the mechatronic handling device with 3 DOF for micro and nano oper...

control of robotic systems is an interesting subject due to their wide spectrum applications in medicine, aerospace and other industries. this paper proposes a novel continuous control mechanism for tracking problem of a 5-dof upper-limb exoskeleton robot. the proposed method is a combination of a recently developed robust integral of the sign of the error (rise) feedback and neural network (nn...