Topic
Articulated robot
About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.
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TL;DR: A robot which can handle unpositioned workpieces using a three-dimensional (3-D) vision sensor and a force sensor has been developed and can pick up an unpositioning small connector and mount it correctly on a printed circuit board.
Abstract: A robot which can handle unpositioned workpieces using a three-dimensional (3-D) vision sensor and a force sensor has been developed. It can pick up an unpositioned small connector and mount it correctly on a printed circuit board. This paper presents the robot system configuration and its operation
20 citations
24 Dec 2012
TL;DR: A new mobile platform named “Rocker-Pillar” is presented which enables a robot to overcome rough terrains with stability and can overcome complex terrains such as holes, steps without frontal sides, and stairs.
Abstract: The ability to overcome rough terrain is a main issue of mobile robots. However, as the speed of a robot increases, stability becomes another issue because it is directly related to the mobility of the robot. Without stability, the robot is exposed to risks of overturn. Therefore, a mobile robot needs to be not only maneuverable but also stable. We present a new mobile platform named “Rocker-Pillar” which enables a robot to overcome rough terrains with stability. The robot is composed of two sets of caterpillar tracks, four wheels, and a pair of two linkages. The robot can travel a rugged terrain at a speed 50m/min while maintaining stability, and can overcome complex terrains such as holes, steps without frontal sides, and stairs. The robot can overcome a hole 1.5 times larger than the wheel diameter of the robot and a step without the frontal side that is 1.25 times higher than wheel diameter.
20 citations
Proceedings Article•
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TL;DR: Classes of robot mechanisms are reviewed, technology constraints on robot mechanism design are discussed and examples of various robot mechanisms provided.
Abstract: Classes of robot mechanisms are reviewed. Technology constraints on robot mechanism design are discussed and examples of various robot mechanisms are provided.
20 citations
18 Apr 2005
TL;DR: This paper presents a technique for the Simultaneous Calibration of Action and Sensor Models (SCASM) on a mobile robot, which is fully implemented and tested on a Sony Aibo ERS-7 robot.
Abstract: This paper presents a technique for the Simultaneous Calibration of Action and Sensor Models (SCASM) on a mobile robot. While previous approaches to calibration make use of an independent source of feedback, SCASM is unsupervised, in that it does not receive any well-calibrated feedback about its location. Starting with only an inaccurate action model, it learns accurate relative action and sensor models. Furthermore, SCASM is fully autonomous, in that it operates with no human supervision. SCASM is fully implemented and tested on a Sony Aibo ERS-7 robot.
20 citations
18 Apr 2005
TL;DR: A micro biped robot with inspection probe and wireless vision is introduced, a hierarchy structure is presented for the robot motion control system, and a relay locating approach is presented to solve robot locating and to estimate the orientation of the robot.
Abstract: For the aircraft structure inspection, this paper introduces a micro biped robot with inspection probe and wireless vision, analyzes the robot locomotion modes and dynamic models, and studies the motion control algorithm. Considering the movement flexibility caused by five degrees of freedom, a hierarchy structure is presented for the robot motion control system. For the long distance locating problem, a relay locating approach is presented to solve robot locating and to estimate the orientation of the robot by using vision and distance information from encoder and CAD model. The movement orientation can be adjusted rivet by rivet in the inspection process. The experimental results show that the control algorithm works well, and orientation estimation algorithm provides an acceptable orientation precision for continuous rivet inspection.
20 citations