There is a considerable demand to develop robots that can perform sophisticated tasks such as grabbing delicate materials, passing through narrow pathways, and acting mediators between humans robots. Soft provide solution for applications. In this study, we propose an electrohydraulic gripper, which based on electrostatic hydraulic forces. Interestingly, the gripper generates force without external fluid supply source. addition, it achieves good compliance, because composed of soft materials...

An iterative learning control algorithm for a class of linear periodic systems is proposed in which parameter estimation performed the domain an sequence operations with time frozen. A sufficient condition convergence given. It also shown that controller can be applied to continuous path robot manipulators. noted works reasonably well only case small perturbations respect nominal trajectory.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

In this paper, a force estimation method is proposed for control without sensor. A disturbance observer applied to each joint of an n degrees freedom manipulator obtain simple equivalent robot dynamics being represented as independent double integrator system. To estimate the output due internal torque, estimator (DOOE) designed, where uncertain parameters are adjusted by gradient minimize performance index which defined quadratic form error signal between and that DOOE. When external...

This paper describes and discusses the preliminary results of a behavioural study on robot social acceptability, which was carried out during public demonstration in South Korea. Data collected by means direct observation people behaviour interaction with robots. The most interesting result to emerge is that young people: they tended react robots presence extreme curiosity and, quite often, treat them aggressively. In this paper, word bullying used describe any kind improper violent...

This paper deals with target tracking control of unicycle type mobile robots. Target function is essential for autonomous robots such as guide robots, security guard etc. In the field robot control, many schemes posture stabilization and trajectory problem have been proposed. however, cannot be achieved using these kinds laws. Therefore, a new global asymptotic stable controller this designed backstepping method. The stability system proved Lyapunov function. Various simulation results...

This work presents a methodology to generate dynamically stable whole-body motions for humanoid robot, which are converted from human motion capture data. The consists of the kinematic and dynamical mappings human-likeness stability, respectively. mapping includes scaling foot Zero Moment Point (ZMP) trajectories considering geometric differences between robot human. It also provides conversion upper body using method in. dynamic modifies pelvis ensure movement stability motions, mapping. In...

Electrospinning has shown great potential in tissue engineering and regenerative medicine due to a high surface-area-to-volume ratio an extracellular matrix-mimicking structure of electrospun nanofibers, but the fabrication complex three-dimensional (3D) macroscopic configuration with nanofibers remains challenging. In present study, we developed novel hydrogel-assisted electrospinning process (GelES) fabricate 3D nanofiber macrostructure tailored by utilizing hydrogel as grounded collector...

An iterative learning control algorithm is presented for a class of linear discrete-time dynamic systems with unknown but periodic parameters. Then sufficient condition convergency the provided. It also shown that result can be extended to nonlinear systems. To show effectiveness algorithms, two examples are given.

A URC (ubiquitous robotic companion) is a concept for network-based service robot. It allows the robot to extend its functions and services by utilizing external sensor networks remote computing servers. also provides robot's at any time place. The requires not only hardware infrastructure such as ubiquitous or high-performance servers but software which resides above infrastructure. In this paper, authors introduce CAMUS (context-aware middleware system) part of infrastructure, system...

This paper presents a development of an anthropomorphic robot hand, `KITECH Hand' that has 4 full-actuated fingers. Most hands have small size simultaneously many joints as compared with manipulators. Components actuator, gear, and sensors used for building robots are not expensive, those make it difficult to build sized hand. Differently from conventional hands, KITECH hand adopts RC servo module is cheap, easily obtainable, easy handle. The been already several humanoid can be new solution...

This paper proposes the indirect zero momentum position (ZMP) controller for biped robot systems and proves its disturbance input-to-state stability (ISS). The ZMP control has been used as a standard method stable walking of systems. Since information consists acceleration center gravity (COG) system, can be indirectly controlled by motion COG. In this paper, reference COG planner is developed solving differential equation. proposed to derive desired from trajectory error (the difference...

Abstract Stellera chamaejasme L. (Thymelaeaceae) is a perennial herb that widely used in traditional Chinese medicine to treat tumours, tuberculosis and psoriasis. S. extract (SCE) possesses anti-inflammatory, analgesic wound healing activities; however, the effect of its active compounds on cutaneous has not been investigated. We assessed full-thickness wounds Sprague-Dawley (SD) rats topically applied SCE for 2 weeks. In vitro studies were performed using HaCaT keratinocytes, Hs68 dermal...

For a multi-fingered hand to grasp an object, there are numerous ways it stably, and thus optimal planning is necessary find the point for achieving objective of given task. First, we define several indices evaluate quality each feasible grasp. Since physical meanings defined induces different from other, not easy combine those identify grasping. In this paper, propose new generalized grasping performance index represent all as one measure based on non-dimensional technique. Through...

Recently, biologically inspired control approaches for robotic systems that involve the use of central pattern generators (CPGs) have been attracting considerable attention owing to fact most humans or animals move and walk easily without explicitly controlling their movements. Furthermore, they exhibit natural adaptive motions against unexpected disturbances environmental changes considering kinematic configurations. Inspired by such novel phenomena, this paper endeavors achieve...

A new parallel-type gripper mechanism is proposed in this work. This device has a parallelogramic platform that can be flexibly folded. Therefore, not only used to grasp an object having irregular shape or large volume, but also utilized as micro-positioning after grasping objects. Forward position analysis and kinematics are investigated deal with motion tracking force control. Kinematic optimization performed design gripping so it reach the specified workspace, span given range of...

A five-bar finger mechanism driven by redundant actuators is given as an illustrative example. It shown that judicial choice of the location one actuator greatly enhances load handling capacity system, when compared to those minimum actuation and more than two actuators. Also, methodologies for stiffness motion frequency modulations via are investigated. Internal distribution associated with further discussed. Specifically, system modulated employing inertial spring-like impedance properties...

In order to develop a human hand mechanism, 5-bar finger with redundant actuation is suggested. Optimal sets of actuator locations and link lengths for the cases minimum actuator, one, two three actuators are obtained by employing composite design index which simultaneously consider several performance indices such as workspace, isotropic index, force transmission ratio. Finally, finger-configurations optimized special illustrated.

Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such has few literature. Thus, this paper investigates the robots. Particularly, parameters as one or double offset distance wheel mechanism and radius are identifed with respect to isotropic characteristic In addition, force transmission characteristics actuator-sizing problem investigated Analysis performed for three actuation sets. It is shown redundantly...

In this paper, a systematic framework for Internet-based interaction of humans, robots, and environments is proposed by using agent technology. The validated proposing the concept slave agents, virtual directory facilitator (VDF) to control responsive multiagent environment. It creates robot system in which can interact without much prior knowledge. Finally, number experiments have been conducted successfully adopting JadeLeap middleware Foundation Intelligent Physical Agents (FIPA) standard...

This paper presents a characterization of the Hokuyo UBG-04LX-F01 laser rangefinder (LRF). The LRFs are suitable for small mobile robot due to their size and light weight. In particular, scan frequency is higher than those previous in its price range. However, there no research on characterizing this LRF convenience practical use. Therefore, characterizes analyzes effect target properties, such as incidence angle, color, brightness, material, by measuring distance target. experimental...