简介：Thispaperpresentsthedesignandprototypeofasmallquadrupedrobotwhosewalkingmotionisrealizedbytwopie-zocompositeactuators.Inthedesign,biomimeticideasareemployedtoobtaintheagilityofmotionsandsustainabilityofaheavyload.Thedesignoftherobotlegsisinspiredbythelegconfigurationofinsects,twojoints(hipandknee)ofthelegenabletwobasicmotions,liftingandstepping.Therobotframeisdesignedtohaveasloperelativetothehorizontalplane,whichmakestherobotmoveforward.Inaddition,theboundinglocomotionofquadrupedanimalsisimplementedintherobot.Experimentsshowthattherobotcancarryanadditionalloadofabout100gandrunwithafairlyhighvelocity.Thequadrupedprototypecanbeanimportantsteptowardsthegoalofbuildinganautonomousmobilerobotactuatedbypiezocompositeactuators.

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简介：Awheeledmobilemechanismwithapassiveand/oractivelinkagemechanismforroughterrainenvironmentisdevelopedandevaluated.Thewheeledmobilemechanismwhichhashighmobilityinroughterrainneedssophisticatedsystemtoadaptvariousenvironments.Wefocusonthedevelopmentofaswitchingcontrollersystemforwheeledmobilerobotsinroughterrain.Thissystemconsistsoftwosub-systems:anenvironmentrecognitionsystemusinglinkanglesandanadaptivecontrolsystem.Intheen-vironmentrecognitionsystem,weintroduceaSelf-OrganizingMap(SOM)forclusteringlinkangles.Intheadaptivecontrol-lers,weintroduceneuralnetworkstocalculatetheinversemodelofthewheeledmobilerobot.Theenvironmentrecognitionsystemcanrecognizetheenvironmentinwhichtherobottravels,andtheadjustablecon-trollersaretunedbyexperimentalresultsforeachenvironment.Thedualsub-systemswitchingcontrollersystemisexperi-mentallyevaluated.Thesystemrecognizesitsenvironmentandadaptsbyswitchingtheadjustablecontrollers.Thissystemdemonstratessuperiorperformancetoawell-tunedsinglePIDcontroller.

简介：Whilemuchattentionhasbeengiventobio-roboticsinrecentyears,notmuchofthishasbeengiventothechallengingsubjectoflocomotioninslipperyconditions.Thisstudybeginstorectifythisbyproposingabiomimeticapproachtogeneratingthefrictionrequiredtogivesufficientpropulsiveforceonaslipperysubstrate.Wetookinspirationfromasuccessfulbiologicalsolution-thatofapplyinghair-likestructurestothepropulsiveappendages,similartothesetaefoundinnereidpolychaeteslivinginmuddyhabitats.Webeganbyexaminingthemorphologyandthemeanlocomotionparametersofoneofthemostcommonnereids:Nereisdiversicolor.Followingthisstudy,wedesignedandfabricatedaroboticsystemwithappendagesimitatingthebiologicalshapefoundintheworm.Aflexiblecontrolsystemwasdevelopedtoallowmostofthelocomotionparametersobservedintherealwormtobeappliedtotherobot.Experimentsonthreedifferentnaturalsubstratesrangingfromfinesandtogravelshowedthat,whereasaplateattachedtotheappendagegeneratedmostthrustonasmallparticlesubstrate,abundleofartificialsetaeattachedtotheappendagegeneratedmostthrustonalargeparticlesubstrate.Onalltypesofsubstratetested,anappendagewithoutanyattachmentdidsignificantlyworsethanonewith.Thissuggeststhathair-likestructurescanbeadvantageous.

简介：Thispaperpresentsamechanicalmodelofjumpingrobotbasedonthebiologicalmechanismanalysisoffrog.Bybiologicalobservationandkinematicanalysisthefrogjumpisdividedintotake-offphase,aerialphaseandlandingphase.Wefindthesimilartrajectoriesofhindlimbjointsduringjump,theimportanteffectoffootduringtake-offandtheroleofforelimbinsupportingthebody.Basedontheobservation,thefrogjumpissimplifiedandamechanicalmodelisputforward.Therobotlegisrepresentedbya4-barspring/linkagemechanismmodel,whichhasthreeDegreesofFreedom(DOF)athipjointandoneDOF(passive)attarsometatarsaljointonthefoot.TheshoulderandelbowjointseachhasoneDOFforthebalancingfunctionofarm.Thegroundreactionforceofthemodelisanalyzedandcomparedwiththatoffrogduringtake-off.Theresultsshowthatthemodelhasthesameadvantagesoflowlikelihoodofprematurelift-offandhighefficiencyasthefrog.Analysisresultsandthemodelcanbeemployedtodevelopandcontrolarobotcapableofmimickingthejumpingbehavioroffrog.

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简介：Unpredictableairmovementshaveprovedtobeaprobleminpreviousstudiesinvestigatingrobotcommunicationbymeansofairbornepheromonechemicals.Theprojectdescribedinthispaperinvestigatestheuseofairvortexringsasameansofcarryingpheromonechemicalsbetweentransmittingandreceivingrobots.Sensitivitytochemicalsincludingpheromonesreleasedbyconspecificsisessentialformanyaspectsofaninsect’slife.Theyassistinfindingfood,locatingamate,avoidingdangerandhelpcoordinatetheactivitiesofsocialinsects.Inthefuture,autonomousrobotswillbechallengedbymanysituationssimilartothosethatfaceinsectsandothersimplecreatures.Chemicalcommunicationmayproveusefulfortheserobotsaswell.Thispaperdescribestheequipmentdevelopedforgeneratinganddetectingvortexrings.Resultsofexperimentsinvolvinglocationandtrackingofasequenceofpheromonevortexringsarealsopresented.

简介：Wepresentamathematicalmethodforaccelerationworkspaceanalysisofcooperatingmulti-fingerrobotsystemsusingamodelofpoint-contactwithfriction.Anewunifiedformulationfromdynamicequationsofcooperatingmulti-fingerrobotsisderivedconsideringtheforceandaccelerationrelationshipsbetweenthefingersandtheobjecttobehandled.Fromthedynamicequation,maximumtranslationalandrotationalaccelerationboundsofanobjectarecalculatedundergivenconstraintsofcontactconditions,configurationsoffingers,andboundsonthetorquesofjointactuatorsforeachfinger.Here,therotationalaccelerationboundscanbeappliedasanimportantmanipulabilityindexwhenthemulti-fingerrobotgraspsanobject.Toverifytheproposedmethod,weusedasetofcasestudieswithasimplemulti-fingermechanismsystem.Theachievableaccelerationboundaryintaskspacecanbeobtainedsuccessfullywiththeproposedmethodandtheaccelerationboundarydependsontheconfigurationsoffingers.

简介：Thedisadvantagescausedbytheswingofafishbodywereanalyzed.Thecoordinatesystemofatwo-jointrobotfishwasbuilt.Thehydrodynamicanalysisofrobotfishwasdeveloped.Thedynamicsimulationofatwo-jointrobotfishwascarriedoutwiththeADAMSsoftware.Therelationshipbetweentheswingoffishbodyandthemassdistributionofrobotfish,therela-tionshipbetweentheswingoffishbodyandtheswingfrequencyoftail,weregained.Theimpactoftheswingoffishbodyonthekinematicparametersoftailfinwasanalyzed.Threemethodstorestraintheswingoffishbodywerepresentedanddis-cussed.

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简介：Thispaperpresentsthedevelopmentofamesoscaleself-containedquadrupedmobilerobotthatemploystwopiecesofpiezocompositeactuatorsfortheboundinglocomotion.Thedesignoftherobotlegisinspiredbyleggedinsectsandanimals,andthebiomimeticconceptisimplementedintherobotinasimplifiedform,suchthateachlegoftherobothasonlyonedegreeoffreedom.Thelackofdegreeoffreedomiscompensatedbyaslopeoftherobotframerelativetothehorizontalplane.Fortheimplementationoftheself-containedmobilerobot,asmallpowersupplycircuitisdesignedandinstalledontherobot.Experimentalresultsshowthattherobotcanlocomoteatabout50mm·s-1withthecircuitonboard,whichcanbeconsideredasasignificantsteptowardthegoalofbuildinganautonomousleggedrobotactuatedbypiezoelectricactuators.

简介：Basedonphotogrammetrytechnology,anovellocalizationmethodofmicro-polishingrobot,whichisrestrictedwithincertainworkingspace,ispresentedinthispaper.Onthebasisofpinholecameramodel,anewmathematicalmodelofvisionlocalizationofautomatedpolishingrobotisestablished.Thevisionlocalizationisbasedonthedistance-constraintsoffeaturepoints.Themethodtosolvethemathematicalmodelisdiscussed.Accordingtothecharacteristicsofgrayimage,anadaptivemethodofautomaticthresholdselectionbasedonconnectedcomponentsispresented.Thecentercoordinateofthefeatureimagepointisresolvedbybilinearinterpolationgraysquareweightedalgorithm.Finally,themathematicalmodeloftestingsystemisverifiedbygloballocalizationtest.Theexperimentalresultsshowthatthevisionlocalizationsysteminworkingspacehashighprecision.

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简介：Asystemisdescribedherethatcannoninvasivelycontrolthenavigationoffreelybehavingratviaultrasonic,epidermalandLEDphoticstimulatorsontheback.Thesystemreceivescommandsfromaremotehostcomputertodeliverspecifiedelectricalstimulationstothehearing,painandvisualsensesoftheratrespectively.Theresultsdemonstratethatthethreestimuliworkingroupsfortheratnavigation.Wecancontroltherattoproceedandmakerightandleftturnswithgreatefficiency.Thisexperimentverifiedthattheratwasabletoreachasettingdestinationinthewayofcablewiththehelpofapersonthroughtheappropriatecoordinationofthethreestimulators.Thetelemetryvideocameramountedontheheadoftheratalsoachieveddistantimageacquisitionandhelpedtoadjustitsnavigationpathoveradistanceof300m.Inaword,thenon-invasivemotioncontrolnavigationsystemisagood,stableandreliablebio-robot.

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简介：Aroboticfish,BASEMACK1,isdesignedandfabricatedbymimickingtheshapeofalivemackerel.ThreeDCservo-motorsareseriallylinkedtogetherandactuatedtomimicthemackerel'sCarangiformmotion.Hydrodynamiccharac-teristicsofafish-mimetictestmodelareexperimentallyidentifiedandutilizedinordertonumericallysimulatefishswimming.Thediscretesetofkinematicanddynamicparametersareobtainedbyconsideringrequiredhorizontalandlateralforcesandminimumenergyconsumption.Usingtheoptimizedparameterset,optimalcontroloftherobotisstudied.

简介：Whendevelopingahumanoidmyo-controlhand,notonlythemechanicalstructureshouldbeconsideredtoaffordahighdexterity,butalsothemyoelectric(electromyography,EMG)controlcapabilityshouldbetakenintoaccounttofullyaccomplishtheactuationtasks.Thispaperpresentsanovelhumanoidroboticmyocontrolhand(ARhandⅢ)whichadoptedanunderac-tuatedmechanismandaforearmmyocontrolEMGmethod.TheARhandⅢhasfivefingersand15joints,andactuatedbythreeembeddedmotors.Underactuationcanbefoundwithineachfingerandbetweentherestthreefingers(themiddlefinger,theringfingerandthelittlefinger)whenthehandisgraspingobjects.FortheEMGcontrol,twospecificmethodsareproposed:thethree-fingeredhandgestureconfigurationoftheARhandⅢandapatternclassificationmethodofEMGsignalsbasedonastatisticallearningalgorithm-SupportVectorMachine(SVM).Eighteenactivehandgesturesofatesteearerecognizedef-fectively,whichcanbedirectlymappedintothemotionsofARhandⅢ.Anon-lineEMGcontrolschemeisestablishedbasedontwodifferentdecisionfunctions:oneisforthediscriminationbetweentheidleandactivemodes,theotherisfortherecog-nitionoftheactivemodes.Asaresult,theARhandⅢcanswiftlyfollowthegestureinstructionsofthetesteewithatimedelaylessthan100ms.

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简介：Thispaperproposedanovelhumanoidroboteye,whichisdrivenbysixPneumaticArtificialMuscles(PAMs)androtateswith3DegreeofFreedom(DOF).Thedesignofthemechanismandmotiontypeoftheroboteyeareinspiredbythatofhumaneyes.Themodelofhumanoidroboteyeisestablishedasaparallelmechanism,andtheinverse-kinematicproblemofthisflexibletendonsdrivingparallelsystemissolvedbytheanalyticalgeometrymethod.Asanextension,thesimulationresultforsaccadicmovementispresentedunderthreeconditions.Thedesignandkinematicanalysisoftheprototypecouldbeasignificantsteptowardsthegoalofbuildinganautonomoushumanoidroboteyewiththemovementandespeciallythevisualfunctionssimilartothatofhuman.