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Development of experimental paper-feeding system using crawling-like locomotion robot 基于爬行机器人的实验送纸系统的研制
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.35
Lin Guo
{"title":"Development of experimental paper-feeding system using crawling-like locomotion robot","authors":"Lin Guo","doi":"10.13180/clawar.2020.24-26.08.35","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.35","url":null,"abstract":"The authors have investigated novel crawling-like locomotion robots that move on slippery downhill and level surface. They numerically showed that high-speed forward sliding locomotion can be generated by positively utilizing the effects of friction force acting on the ground contact point, which is underactuated however indirectly excited by synchronizing the frame rotation via entrainment effect, as well as concentrating the sliding direction via damping effect. After that, they considered to utilize the robot as an actuator by grounding it via a passive rotational joint as shown in Fig. 1 (a): a simple paper-feeding system. The wobbling length, l3 [m], is controlled to follow the desired trajectory, yd(t) = Am sin (2πfct). Through basic numerical simulations, it was confirmed that the robot’s forward motion can be successfully transformed to the paper-feeding motion as shown in Fig. 1 (b). The paper (transported object) model is specified as mpẍp = −μλc − Cpẋp, and is fed in the negative direction of the X-axis by the frictional force generated by the reciprocating motion of the robot body frame. Parametric studies showed that the feeding speed is increased with the increase of the viscosity coefficient in the body frame, c [N·s/m], but the change of the elastic coefficient, k [N/m], is less effective. It was also confirmed that the feeding speed can be controlled by adjusting the wobbling frequency, fc [Hz], and the viscosity coefficient in the paper, Cp [N·s/m]. To confirm the validity of the above numerical results, we developed a prototype paper-","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"331 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123100359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
A control strategy of a mobile robot in a limited space using a laser rangefinder 基于激光测距仪的有限空间移动机器人控制策略研究
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.20
{"title":"A control strategy of a mobile robot in a limited space using a laser rangefinder","authors":"","doi":"10.13180/clawar.2020.24-26.08.20","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.20","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"224 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115991520","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Collaborative localization using dynamic noise covariance and robot motion model for unknown area exploration 基于动态噪声协方差和机器人运动模型的未知区域探测协同定位
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.49
{"title":"Collaborative localization using dynamic noise covariance and robot motion model for unknown area exploration","authors":"","doi":"10.13180/clawar.2020.24-26.08.49","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.49","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114596221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Simulation of a walking robot-exoskeleton movement on a movable base 行走机器人外骨骼在可移动基座上的运动模拟
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.26
S. Jatsun, A. Malchikov, A. Yatsun, A. Khalil, A. M. Leon
{"title":"Simulation of a walking robot-exoskeleton movement on a movable base","authors":"S. Jatsun, A. Malchikov, A. Yatsun, A. Khalil, A. M. Leon","doi":"10.13180/clawar.2020.24-26.08.26","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.26","url":null,"abstract":"The paper studies the problem of movement of a two-legged walking machine on a movable base. This task is relevant for design rehabilitation and mechanotherapy complexes for people with impaired functions of the musculoskeletal system. Presents a mathematical model that allows obtaining the kinematic and dynamic parameters of the movement of the executive units of the device under study. The paper presents a method for planning the trajectory of exoskeleton links, its algorithmic and software implementation. The paper proposes the structure of the automatic link position control system, which ensures the movement of the executive links along a given trajectory. A mathematical apparatus is proposed for studying the dynamics of the controlled movement of the links of the human-machine system of the exoskeleton. The article presents the results of numerical experiments on the movement of the low-limb exoskeleton leg in the one step mode and analyzes them.","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"58 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113977202","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Animal-inspired robots that crawl, walk, run, climb and fly and synthetic nervous systems for their control 受动物启发的机器人能爬、能走、能跑、能爬、能飞，还有控制它们的合成神经系统
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.p02
{"title":"Animal-inspired robots that crawl, walk, run, climb and fly and synthetic nervous systems for their control","authors":"","doi":"10.13180/clawar.2020.24-26.08.p02","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.p02","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132038349","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A robot design for wind generator support structure inspection 风力发电机支撑结构检测机器人设计
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.64
{"title":"A robot design for wind generator support structure inspection","authors":"","doi":"10.13180/clawar.2020.24-26.08.64","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.64","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132981783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Spherical rolling robots: Different designs and control algorithms 球面滚动机器人:不同的设计和控制算法
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.47
Y. Karavaev, I. Mamaev
{"title":"Spherical rolling robots: Different designs and control algorithms","authors":"Y. Karavaev, I. Mamaev","doi":"10.13180/clawar.2020.24-26.08.47","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.47","url":null,"abstract":"This paper presents a review of papers devoted to the creation and investigation of spherical robots. Owing to their structural features, namely, geometric symmetry and resistance of actuating mechanisms and elements of the control system against aggressive environmental conditions, robotic systems of this type have a high potential of being used in problems of monitoring, reconnaissance, and transportation on Earth and other planets. A detailed description is given of the structures of prototypes of spherical robots which use different actuation principles: a spherical robot with an internal pendulum mechanism, a spherical robot with an internal omniwheel platform, a spherical robot with internal rotors, and a spherical robot of combined type. Experimental results are presented to give an estimate of the possibility and efficiency of controlled motion. The applied use of spherical robots depending on the type of the actuating mechanism is discussed.","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132169225","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
). Selection of optimal parameters of the pneumatic / hydraulic actuator ）. 气动/液压执行机构的最佳参数选择
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.10
K. Trukhanov
{"title":"). Selection of optimal parameters of the pneumatic / hydraulic actuator","authors":"K. Trukhanov","doi":"10.13180/clawar.2020.24-26.08.10","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.10","url":null,"abstract":"In modern fields of engineering and process control, pneumatic / hydraulic actuators are increasingly used. The effective use of pneumatic / hydraulic actuators depends on their parameters, characteristics and properties. The methods of optimization are used to select the optimal actuator parameters, based on the minimum function search. The purpose of this article was the possibility of using the one decisive criterion (target function) that provides the optimal parameters of the pneumatic / hydraulic actuator with the translational motion of the output link, as well as its use at the synthesis of the servo pneumatic cylinder. To calculate the parameters of the servo pneumatic drive, close to optimal, it was used the 𝐋𝐏 𝝉 -search with two criteria. It is shown and concluded that the proposed target function can be used at the synthesis of the servo pneumatic / hydraulic drives with the translational motion of the output link.","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"30 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124654608","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Mathematical modeling and motion analysis of conveying object moving on rotating shafts 输送物在转轴上运动的数学建模与运动分析
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.37
{"title":"Mathematical modeling and motion analysis of conveying object moving on rotating shafts","authors":"","doi":"10.13180/clawar.2020.24-26.08.37","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.37","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127096631","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Parametrical analysis of vacuum contact devices for wall climbing robots 爬壁机器人真空接触装置的参数分析
Robots in Human Life Pub Date : 2020-08-24 DOI: 10.13180/clawar.2020.24-26.08.25
{"title":"Parametrical analysis of vacuum contact devices for wall climbing robots","authors":"","doi":"10.13180/clawar.2020.24-26.08.25","DOIUrl":"https://doi.org/10.13180/clawar.2020.24-26.08.25","url":null,"abstract":"","PeriodicalId":314060,"journal":{"name":"Robots in Human Life","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126879698","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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