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...

Deploying a large number of resource-constrained mobile robots performing a common group task may offer many advantages in efficiency, costs per system, and fault-tolerance (Sahin, 2005). Therefore, robot swarms are expected to perform missions in a wide variety of applications such as environment and habitat monitoring, exploration, odor localization, medical service, and search-and-rescue. In...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...

The work reported in this paper addresses the development of soft bodied robots for adaptive interaction with the environment and for increased energy efficiency, thanks to intrinsic body properties and to storage of mechanical energy. Swimming locomotion has been chosen as elective field, because of an active research framework (European research project “Lampetra” [1] on eel-like artefacts) a...

This paper presents experimental analysis of wheeled mobile robots. Mathematical modelling of the mobile robot is presented. The mobile robots consist of an omni-directional and three differential drive mobile robots are tested and moved in given trajectories and the systematic errors of the robots are determined. A new method for omni-direction mobile robot was introduced in which the robot wa...

A stumbling point for many learning to fly fish is being able to fly cast well enough to ‘present’ a fly to a feeding fish. Even among more skilled fly fishers, learning to fly cast better is often a bottleneck towards advancement in the sport. Fly casting instruction today relies on the visual inspection of the fly casting stroke and the resulting ‘loop’ of fly line. These qualitative visual c...

This paper aims to develop a writing robot by recognizing the speech signal from the user. The robot arm constructed mainly for the disabled people who can’t perform writing on their own. Here, dynamic time warping (DTW) algorithm is used to recognize the speech signal from the user. The action performed by the robot arm in the environment is done by reducing the redundancy which frequently fac...