The state-of-the-art visual simultaneous localization and mapping (V-SLAM) systems have high accuracy capabilities impressive effects. However, most of these assume that the operating environment is static, thereby limiting their application in real dynamic world. In this paper, by fusing information an RGB-D camera two encoders are mounted on a differential-drive robot, we aim to estimate motion robot construct static background OctoMap both environments. A tightly coupled feature-based...

By moving a commercial 2D LiDAR, 3D maps of the environment can be built, based on data LiDAR and its movements. Compared to is more economical. A series problems need solved in order for perform better, among them, improving accuracy real-time performance. In solve these problems, estimating movements identifying removing objects environment, are issues that should studied. More specifically, calibrating installation error between unit, movement estimation at low scanning frequencies,...

As SLAM technology has evolved from the geometric level to object level, Active (ASLAM) also adopted a new goal: improving ability observe objects. However, current ASLAM mostly focuses on low-dimensional environmental features such as points, lines, and planes, while ignores impact of motion process SLAM. This paper proposes observation pose optimization method based ellipsoid model camera field view enhance robot’s We integrate planning into unified module construct an optimized factor...

In robot-assisted dental implant surgery, properly arranging the robot system are important for performance. Following this, a multiobjective optimization approach preoperative placement (MOPRP) is proposed. Firstly, after kinematics modeling, 9-dimensional planning of both joint’s angles and base’s position simplified into 3-dimensional merely position, building design variables. The simplification based on multiple inverse (IK) selection strategy, which contains collision-free principle...

Purpose This paper aims to imitate a cownose ray develop fish robot with paired flexible multi-fin-ray oscillating pectoral fins (OPFs) and control it accomplish vivid stable 3-D motions using central pattern generators (CPGs) fuzzy algorithm. Design/methodology/approach The ray’s asymmetric sine-like oscillations were analyzed. Then cownose-ray-like named Robo-ray was developed, which has OPFs actively the fin shape two tail depth. To solve problem of coordinated for multi-degree-of-freedom...

Bionic propulsion has advantages over traditional blade propellers, such as efficiency and noise control. Existing research on ray-inspired robot fish mainly focused a single type of pectoral fin bionic propeller, which only performed well in terms pure speed or maneuverability. Rarely the performance different types been compared same platform to find an optimal solution. In this paper, modularized with high-fidelity biomimetic fins novel multi-DOF propelling mechanism is presented. A...

This paper aims to design a novel bionic fish propelled by oscillating paired pectoral fins. Flapping motion deformation of the nature sample, cow-nosed ray, is realized with simple mechanical structure through optimization. Locomotion analysis sample under linear cruise swimming conditions carried out. Simplified mathematical models fin are obtained be foundation rays and fish. The number decided according passing kinematic wave shape number. Distance parameters optimized, determined...

Features of fish-like environmental compatibility and maneuverability have attracted bioinspired design researchers worldwide to contemplate the practical applications robotic fish. This article presents a conceptual for development fish inspired by cownose ray. We extracted essential biomimetic parameters ray develop reasonable simplifications body shape, mechanical structure principle multijointdriving fin rays, motion principle. The abilities bionic prototype's internally driven skeleton...

Fish can perceive the surrounding flow field using their lateral line systems, consisting of canal neuromasts (CNs) for pressure gradient perception and superficial (SNs) velocity detection. Although various artificial (ALL) systems have been developed inspired by fish, few studies combined both sensors hydrodynamic perception, how to optimize sensor placement remains unanswered, particularly on three-dimensional models. Herein we proposed a maximized stimulation strategy optimization. We...

Purpose The paper aims to develop a cownose ray-inspired robotic fish which can be propelled by oscillating and chordwise twisting pectoral fins. Design/methodology/approach bionic fin simultaneously realize the combination of motion is designed based on analyzing movement ray’s structural design control system construction are presented. Finally, series swimming experiments carried out verify effectiveness for fin. Findings experimental results show that deformation well close ray’s....

This paper proposed a new method of designing flexible biomimetic fish propelled by oscillating pectoral fins. The molding soft body is adopted in the robotic fish. Pneumatic artificial muscles are utilized as driving sources and two ribs with distributed flexibility main parts propulsive mechanism. leading edge locomotion profile fin air studied experimentally, flapping water observed too. Finally, effectiveness illustrated experiment. It shows that can realize self-driven, it swim at speed...

Manta Ray generates thrust force by flapping two pectoral fins, which inspires the parametric study of fin that affects swimming performance. In this paper, design a robotic manta ray (RoMan-III) will be presented. A biomimetic model discussed. The forward motion, turning and gliding motions are considered in Ray's locomotion. Parameters related to generation include amplitude, frequency, area, shape. is derived based on simplified Bernoulli equation. scheme motion control also suggested for...

A robotic fish mimicking cownose ray is developed and a fuzzy depth control method presented in this paper. With dosoventrally flattened body wich disigned by imitating shape of ray, the has preferable pitch stability. tail-unit, which consists pair horizontal tails vertical tail, used to realize turning motion plane up-and-down plane. By adjusting rotation angles can swim upward or downward. Due complex hydrodynamics uncertaintyies exist environment, logic applied automatic fish. The...

Generally, variable stiffness joints of soft robots are generally fabricated using thermoplastics and elastomers due to their ability change state from rigid flexible vice versa. However, these materials require a considerable amount time states associated with other technical drawbacks. We demonstrate the instantaneous physical transformation Ga-based magnetorheological fluid called Gallistan liquid viscoelastic solid, precisely controlled within milliseconds under an applied magnetic...

An accurate dynamic model is a prerequisite for realizing precise control of industrial robots. The dynamics research multi-degree freedom (DOF) robots relatively unexplored and needs to be solved urgently. In this paper, modeling method multibody system 6-DOF robot proposed based on the screw theory. established has more concise unified mathematical form, modular matrix expression convenient robot. order ensure that suitable motion in wide range angles, quaternions are used as generalized...

This study aims to develop a waypoint-tracking control system for biomimetic underwater vehicle (BUV). The BUV is propelled by wide paired pectoral foils, and each foil driven three independent fin rays. To simplify the strategy, maximum flapping amplitude of used forward velocity, turning factor defined manoeuvre control. Several swimming experiments are carried out investigate influence parameters on performance prototype. Based results experiments, proposed, which contains two layers:...

The paper is aimed at establishing a platform of robotic fish propelled by paired pectoral fins, so as to research fin propulsion. Locomotion nature sample, cow-nosed ray, was analyzed before simplified mathematical model obtained for design the fish. fins equivalent pass oscillating motion from front back in form cubic function one plane. Tridimensional flexible skin made according shape ray. Mechanism with three rays designed meet model, that is, mimic locomotion wave on fin. A novel two...

Purpose – This paper aims to develop a robofish with oscillating pectoral fins, and control it mimic the bionic prototype by central pattern generators (CPGs). Design/methodology/approach First, oscillation characteristics of cownose ray were analyzed quantitatively. Second, multi-joint fins was developed according morphology kinematics. Third, improved phase oscillator established, which contains spatial asymmetric coefficient temporal coefficient. Moreover, CPG network is created...

Locomotion control of synergistical interaction between fins has been one the key problems in field robotic fish research owing to its contribution improving and enhancing swimming performance. In this paper, coordinated locomotion boxfish-like robot with pectoral caudal is studied, effects different parameters on propulsion performance are quantitatively analyzed by using hydrodynamic experiments. First, an untethered two fin was designed. Second, a central pattern generator (CPG)-based...

Because of the limited space, suture oral and maxillofacial surgery is a challenging task, which requires surgeons to master excellent techniques. This letter presents single-arm stapling robot for using magnesium alloy staples, as well strategy robot, can complete operation. The has six degrees freedom adjust position orientation, novel stapler with one degree at end robot. A special proposed reapproximate wound, featured staple two different length legs. introduces mechanism Moreover,...

Bionic propulsion has certain advantages over traditional propellers. Much research on pectoral fins as bionic propellers for ray-inspired robots been made, but rarely did they compare the hydrodynamic performance of different same platform to find out optimal balance. In this paper, existing prototypes are categorized into three structure types, and a new fin module used robotic fish was presented, together with novel 2-DOF spatial parallel mechanism propeller. Motion analysis agreed well...