This paper describes a robot with a spherical joint that imitates the shoulder joint of humans. The robot with a spherical joint is developed considering structural features of a human’s shoulder joint. The spherical joint has three degrees of freedom: abduction or adduction, flexion or extension and internal rotation or external rotation. Furthermore, this robot is actuated by a group of pneum...

The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...

This paper addresses the issue of adaptive position/force control of uncertain constrained flexible joint robots (FJRs). The controller is developed without the assumptions of weak robot joint flexibility as adopted in popular singular perturbation (SP) approaches. It relies on the feedback of joint state variables and avoids noisy joint torque measurements found in most controllers developed s...

Primljeno (Received): 2011-10-10 Prihvaćeno (Accepted): 2012-02-07 Original scientific paper This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental...

In this study, kinematics and dynamic simulation of a six-legged robot is performed based on virtual prototyping technology. Modeling and simulation of sixlegged robot with three joint legs are carried out with CATIA solid modeler, SimDesigner and ADAMS multibody dynamic solver. Tripod periodic gait pattern was generated varying the cycle time as well as stroke of the swing of the legs. Variati...

The disadvantages caused by the swing of a fish body were analyzed. The coordinate system of a two-joint robot fish was built. The hydrodynamic analysis of robot fish was developed. The dynamic simulation of a two-joint robot fish was carried out with the ADAMS software. The relationship between the swing of fish body and the mass distribution of robot fish, the relationship between the swing o...

Where r is robot, s is subject, p is robot joint angles, q is subject joint angles, I is an inertial matrix, G is a coriolis-centripetal matrix, and E and C are forces actively generated by the robot and subject respectively. Fhandle is a coupling term that represents the force that the robot and subject apply to each other. The active subject torques, called the controller, are governed by bot...

We propose a computational model of joint attention consisting of three parts: responding to joint attention, initiating joint attention, and ensuring joint attention. This model is supported by psychological findings and matches the developmental timeline in humans. We present two experiments that test this model and investigate joint attention in human-robot interaction. The first experiment ...

A general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. The robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. The curvatures in pipeline are the most important constraints in front of the robot through navigation process. To study the adapt...

Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which re...