1070-9932/13/$31.00©2013IEEE n this article, we present a robot capable of autonomously traversing and manipulating a three-dimensional (3-D) truss structure. The robot can approach and traverse multiple structural joints using a combination of translational and rotational motions. A key factor in allowing reliable motion and engagement is the use of specially designed structural building block...

In order to overcome the limitations of the end clamps of traditional robot, multifingered dextrous robot hands have been well developed since the last decade. A new fuzzy logic control structure is presented in this article, which is for the position control of the mini-linear driver used in driving the joints of the dextrous robot hands. This method is proved to be effective in simulations an...

The paper deals with designing and developing a biped robot for research purposes. Robot’s mechanical structure and drives system are described hereunder in details. Moreover the new modified actuators as well as the possibility to the stabilization of robot with serial elasticity in the joints are discussed. An industrial Ethernet-based real-time communication protocol is introduced and the co...

Active auditory perception related tasks like sound localization and speech recognition have to be performed with high accuracy even while the robot is moving. However, the joints of the robot inevitably generate noise because of the active motors, i.e. ego-motion noise. This problem is very critical, especially in humanoid robots, because they tend to have a lot of joints and the motors are lo...

This paper discusses the identification of dynamic parameters of an industrial robot KUKA KR5 with all revolute joints and serial architecture. For this, the simplified model of the robot was taken into account by considering only those joints which normally operates orthogonal to the gravity vector. The first approach used for finding the dynamic parameters of this simplified model was by form...

simultaneous dislocation of both interphalangeal (ip) joints of same finger is a highly uncommon finding. and dislocation of metacarpophalangeal (mcp) joint along with interphalangeal joints of thumb are reported in literatures if, scarcely. here we are reporting the three cases, comprising of double dislocation of ip joints in little finger in two patients and simultaneous mcp and ip joint dis...

The analytical model of a robot dynamics represents an important tool for both the analysis and the synthesis of robot control algorithms. Based on the Euler-Lagrange formalism, the contribution presents a MATLAB-SIMULINK dynamic model of the 3-DOF anthropomorphic robot manipulator with revolute joints. A significant simplification of the model has been accomplished via the concentration of the...

Dexterous robot hand development is a very challenging and interesting research topic. A dexterous robot hand may serve as a prosthesis hand for disabled patients or to serve as a gripping device for robotic arms. In most of previous studies, the dexterous robot hands are developed based on the directed gear train controls and tendon wired controls. The directed gear train control based design ...

The leg structure with high dynamic stability can make the bionic biped robot have inherent conditions to perform elastic and highly motion. Compared quadruped robot, of is more complex has degrees freedom. This also complicates kinematic modeling. In this paper, kinematics model a established. configuration series parallel hybrid mechanism five active joints six passive joints. spring mass tha...