The well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulat...

The main objective of this article is to optimize the walking pattern of a 2D humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. To this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. Then, using these trajectories and the inverse kinematics, the position tra...

Requirements for verifying spatial relations in robot workcell in terms of accuracy and repeatability are increasing. Improvements in the performance of industrial robots have extended the range of applications in to new fields in which flexibility, high payload, accuracy and repeatability are needed. To satisfy the requirements of overall geometric performance and flexibility in a robot system...

This paper presents the design and implementation of a systematic fuzzy modelling methodology for the inverse dynamic modelling of robot manipulators. The fuzzy logic modelling methodology is motivated in part by the difficulties encountered in the modelling of complex nonlinear uncertain systems, and by the objective of developing an efficient dynamic model for the real-time model-based contro...

Just recently Flank Milling has opened up new possibilities in detailing large-scale architectural building envelopes. Whereas examples such as the Hungerburgbahn by Zaha Hadid show the application of Flank Milling at the end of the architectural manufacturing process, our research, in contrast, focuses on the implementation of constraints immanent to manufacturing techniques as early architect...

This paper presents a new path-tracking scheme for a car-like mobile robot based on neural predictive control. A multi-layer back-propagation neural network is employed to model non-linear kinematics of the robot instead of a linear regression estimator in order to adapt the robot to a large operating range. The neural predictive control for path tracking is a model-based predictive control bas...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

The purpose of this article is to provide rescue robots with an adaptive behaviour during searching for victims in disasters such as fire, earthquake, flood, wars etc. This experimental research work took place in previously unknown dynamic indoor terrains. The main phases of this framework are; 1) modelling of robot behaviours/dynamics in collapsed environments, 2) designing an adaptive contro...