Articulated robot

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

A low-level control interface for robot manipulators

Abstract: This paper will discuss a possible low-level control interface for a robot manipulator. The first section will present background information describing the capabilities and limitations afforded by the use of interfaces and a proposed system modularization that supports interface specification. The next section presents three possible low-level robot control interfaces within this system. Each will be elaborated on by a specification of the interface information and its use, timing considerations and potential limitations. The paper concludes with a summary discussion and recommendation.

Biped robot to assist walking and moving up-and-down stairs

Abstract: A biped robot technology for household use is proposed in this paper. The motivation of the biped robot is to assist an aged person with an unsteady walk in walking and moving up-and-down stairs. The robot has two legs with waist, and its waist is fixed to a handrail of a house using linear guides. The robot is able to walk by supporting itself on the handrail. A control bar is attached to the robot waist. An aged person can easily walk and move up-and-down stairs by stepping onto the feet of the robot. The robot structure using the handrail is advantageous since it allows for a compact, lightweight, and low cost robot mechanism. A scaled down biped robot was fabricated in order to confirm the proposed principle, and the simulation study was also carried out.

Idea of wheel-legged robot and its control system design

Abstract: The wheel-legged robot is a vehicle with many degrees of freedom. Thanks to its peculiar design, depending on the need, the vehicle will use one of its ways of moving: travelling on wheels or walking (in special situations), which enhances its locomotive properties. The paper presents the robot’s kinematic wheel suspension system, general operation strategy and control system. The application responsible for robot control and data visualization is described. Finally, selected tests of the algorithms, carried out on the robot prototype, are presented.

Force-Controlled Assembly of two Objects with a Two-arm Robot

Abstract: The use of a two-arm robot for assembling two objects, with each being held by one arm, is presented. The assembly task is decomposed into an approach phase and an assembly phase. For each phase, we propose a solution for describing the task. For the approach phase, we suggest to describe the task with respect to a mobile reference frame, attached to the end effector of one of the arms. This allows us to take advantage of the redundancy of the system. For the assembly phase, we propose two solutions, both involving some kind of force control. The first one is based upon a position control similar to the one used for the approach phase, with an updating of the reference position through a measurement of the contact forces. The second scheme is derived from a symmetrical hybrid control scheme initially proposed by Uchiyama and Dauchez to control a two-arm robot handling a single rigid object. The main results of this scheme are summarized, and the way of using it for an assembly task is presented. Finally, the experimental setup we have installed to validate our theoretical results is described.

Design of a three-legged reconfigurable spherical shape robot

Abstract: This paper proposes a novel mechanical design of a three-legged reconfigurable robot. In its dormant form, the robot is packed into a spherical shape for minimum storage volume. At deployment, the robot can be transformed into a mobile form of two interconnected hemispheres with three legs, each equipped with an omni-directional wheel. Feasibility of the transformation process was analyzed using a dynamic simulation in MSC.ADAMS. The construction of the robot has been completed up to the deployment of three legs, the lifting of the robot body, and the movement of omni-directional wheels. The deployment of robot legs is controlled using feedback control on five dsPIC30F2010 boards. The torque measurements of the transformation process are in good agreement with the results of corresponding dynamic simulation.