Articulated robot

About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.

A biologically inspired CPG-ZMP control system for the real-time balance of a single-legged belly dancing robot

Abstract: Recently, a few researchers have started to realize that in order for humanoid robots to move more naturally, it is necessary for them to incorporate a flexible spine in their robots. So far, nobody has come out with a solution which allows their spine robots to maintain balance in real-time. This paper presents a biologically inspired, hybrid CPG-ZMP controller for a single-legged, flexible spine belly dancing robot. Using only two control parameters, our robot can generate rhythmic and wave-like spine motions through the CPG component. By monitoring the torque at the robot's ankle, the ZMP component allows the robot to maintain balance in real-time. Unlike traditional ZMP-based controllers, no modeling of the robot's dynamics or explicit computations of the zero moment point are required. The resultant robot's motions emerge automatically in real-time through dynamic interactions between the robot, its neural network and the environment. Experimental results indicate that our controller has the potential to be applied to a new generation of flexible spine, biped walking humanoid robots.

Study on a Kind of Wall Cleaning Robot

Abstract: This kind of wall cleaning robot has two wheels that can be driven respectively, two vacuum pumps, and one negative suction disc with one mechanic-servo air-sealed ring. Some key techniques on kinematics and hydrodynamics of the robot are proposed in this paper. Aimed at the actual situations for wall cleaning works, this paper presented a sort of physical cleaning method, and analyzes its advantages. In order to let the robot finish its work perfectly, we developed a sort of suitable operation device with cleaning, water-saving and environment protection functions

Modular articulated robot structure

Abstract: A modular articulated robot structure (FIG. 4 ) composed of a series of independent modules ( 10,100,300 ) releasably connected to each other to form various configurations. The modules ( 10,100,300 ) may be of the rotary ( 10 ), linear ( 100 ), or wheeled ( 300 ) type. The rotary modules ( 10 ) are generally formed of first and second substantially U-shaped structural members ( 12,14 ) pivotally attached to one another by means of a pair of axles or pivot pins ( 26 ) adapted to support a workload exerted on the module ( 10 ). A motor ( 48 ) is mounted internally of the module ( 10 ) for pivoting the second structural member ( 14 ) relative to the first structural member ( 12 ). The motor ( 48 ) is connected to the second structural member ( 14 ) in such a way that it is not submitted to outside loads exerted on the module ( 10 ). Typically, the first and second structural members ( 12,14 ) are provided with cooperating abutment surfaces ( 17,19,74,76,78,80 ) for increasing the overall structural rigidity of the module ( 10 ) in certain positions thereof.

Remote force control of robot using PHANToM haptic model and force sensor

Abstract: The master slave control is a technique often used when controlling a remote robot. In this technique, the operator can work while he notices the force which is added to the robot. However, when the taken time in the communication between the robot (the slave) and the operator (the master) is long, accurate control becomes difficult. This research aims to generate the force environment using the posture of the robot and the value detected with the sensor. With this, even if the communication time was long, the operator could operate a robot appropriately while he sensed the force added to the robot.

Method for controlling robot and robot controller using the method

Abstract: The current position of a work is sequentially updated in a conveyor coordinate system, and the path of a robot to follow the work is formed by transforming the position of the work from the conveyor coordinate system to a robot coordinate system