As an inevitable trend, more and more robots are designed to be sold as household products in recent years. Famous examples like AIBO, RoboSapien, and Kondo, though aiming on different functionality respectively, are all affordable by general family. Among the robots stated above, four-legged robots have great advantage on locomotion over stair, uneven or multilevel floor, and floor with scatte...

In recent years, mobile robots are expected to perform various tasks in general environments such as nuclear power plants, large factories, welfare care facilities and hospitals. However there are narrow spaces with vertical gaps made by two horizontal floors in such environments and it is difficult for general car-like vehicles to run around there. Generally, the mobile robots are required to ...

Abstract In order to enable a robot do the omni-directional mobility for inspection in pipeline of Gas Insulation Switchgear, negative pressure adsorption is designed. Firstly, mechanical structure was designed based on adsorption. The internal surface motion model built, and variable control method proposed by analysis. Simulations experiments showed that could steadily adsorb any position pip...

Recent advancements in mechatronics has led to tremendous development of application of robots for industrial applications involving high health hazards, rough working conditions and difficult to reach locations. Robot assisted welding is one such high risk operation for human being. The industrial arc welding robots are either mounted on the floor, table or on overhead rails. In this scenario,...

We deene and study a directional derivative for two functions of the spectrum of an analytic matrix valued function. These are the maximum real part and the maximum modulus of the spectrum. Results are rst obtained for the roots of polynomials with analytic coeecients by way of Puiseux-Newton series. In this regard, the primary analytic tool is the so called Puiseux-Newton diagram. These result...

The goal of our project is to achieve an automated mapping capability for architectural interiors. We are deploying a small rolling robot with an omni-directional video camera, an on-board CPU, and wheel encoders for odometry. We intend to have the robot roam about the space to be acquired, gathering video frames, tracking geometric features and constructing a geometric model of its environment...

A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as a laser tracker or indoor GPS (iGPS) in mobile robot navigation, many of the most difficult problems in mobile robot navigation can be simplified or avoided. Using the real-time position information from the la...

This paper proposes a design for a precision positioning miniature walking robot using piezoelectric unimorph actuators. The theoretical working equations of a uniform piezoelectric unimorph beam are derived based on the linear piezoelectric relations, Hamilton’s principle, and Euler-Bernoulli beam equation. The modal superposition method is used to determine the response of the forced transver...