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Article
Publication date: 20 October 2014

He Xu, Yan Xu, Hu Fu, Yixian Xu, X.Z. Gao and Khalil Alipour

The purpose of this paper is to explore a novel control approach for swift and accurate positioning and tracking of a mobile robot. Coordinated movement of the mobile robot

Abstract

Purpose

The purpose of this paper is to explore a novel control approach for swift and accurate positioning and tracking of a mobile robot. Coordinated movement of the mobile robot-body and chameleon-inspired binocular “negative correlation” visual system (CIBNCVS) with neck has rarely been considered in conventional mobile robot design. However, it is vital in swift and accurate positioning and tracking of the target. Consequently, it is valuable to find an optimized method where the robot-body, the biomimetic eyes and neck could achieve optimal coordinated movement.

Design/methodology/approach

Based on a wheeled mobile robot, a biomimetic dual Pan–Tilt–Zoom visual system with neck is constructed. The cameras can rely on the unique “negative correlation” mode of chameleon vision, and cooperate with neck, achieving swift search of the 160° scope in front of the robot. Genetic algorithm is used to obtain optimal rotation of the neck and robot-body. Variable resolution targeting is also applied for accurate aiming. Using these two approaches, we can achieve efficient targeting with low energy consumption. Particle filter algorithm is further utilized for real-time tracking.

Findings

In the proposed approach, swift and accurate positioning and tracking of the target can be obtained. The rationality of the approach is verified by experiments on flat and sandy terrains with satisfactory results.

Originality/value

This paper proposes a novel control approach for wheeled mobile robots, which achieves coordinated movement of the robot-body and CIBNCVS with neck concerning time and energy saving in the process of swift and accurate tracking.

Details

Industrial Robot: An International Journal, vol. 41 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 1 October 2003

Andrew Peacock and Robert Boyce

Describes an automated robotic milking system that allows self‐milking by cows. Benefits include increased yield, improved cow welfare and reduced labour. Describes…

Abstract

Describes an automated robotic milking system that allows self‐milking by cows. Benefits include increased yield, improved cow welfare and reduced labour. Describes elephant‐trunk robotic arms and vision guidance system for teat acquisition.

Details

Industrial Robot: An International Journal, vol. 30 no. 5
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 18 January 2013

Robert Bogue

The purpose of this paper is to describe recent research into biomimetic imaging and vision systems.

Abstract

Purpose

The purpose of this paper is to describe recent research into biomimetic imaging and vision systems.

Design/methodology/approach

Following an introduction, this paper discusses a range of biomimetic imaging and vision system research activities and their potential applications. Brief conclusions are drawn.

Findings

This shows that biomimetic design concepts, many based on insect vision, are being applied widely to prototype imaging systems. These exhibit features such as wide fields of view, hyperacuity and infra‐red detection and offer prospects to enhance the capabilities of such systems in a wide range of applications.

Originality/value

This paper provides details of recent biomimetic imaging research, which has potential in a range of robotic and other applications.

Details

Sensor Review, vol. 33 no. 1
Type: Research Article
ISSN: 0260-2288

Keywords

Content available
Article
Publication date: 1 January 2004

Alex M. Andrew

Abstract

Details

Kybernetes, vol. 33 no. 1
Type: Research Article
ISSN: 0368-492X

Keywords

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Article
Publication date: 19 January 2015

Masashi Konno, Yutaka Mizota and Taro Nakamura

This paper aims to develop a wave-transmitting mechanism for a travelling-wave-type omnidirectional mobile robot. Existing omnidirectional mechanisms are prone to movement…

Abstract

Purpose

This paper aims to develop a wave-transmitting mechanism for a travelling-wave-type omnidirectional mobile robot. Existing omnidirectional mechanisms are prone to movement instability because they establish a small contact area with the ground. The authors have developed a novel omnidirectional mobile robot that achieves stable movement by a large ground-contact area. The proposed robot moves by a wave-transmitting mechanism designed for this purpose.

Design/methodology/approach

To achieve stable movement, a spiral-type travelling-wave-propagation mechanism that mimics the locomotion mechanism of a snail was developed. The mechanism was applied to an omnidirectional mobile robot.

Findings

The practicality of magnetic attraction was verified in experiments of the wave-transmitting mechanism. Moreover, omnidirectional movement was confirmed in a robot prototype adopting this mechanism.

Research limitations/implications

The proposed robot will eventually be deployed in human spaces such as factories and hospitals. A mechanically improved version of the robot will be evaluated in load-driving experiments and equipped with control systems.

Originality/value

This paper proposes an omnidirectional mobile robot with a large ground contact area that moves by continuous travelling waves. The practicability of this mechanism was experimentally confirmed, and a prototype robot achieved omnidirectional movement.

Details

Industrial Robot: An International Journal, vol. 42 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Content available
Article
Publication date: 1 October 2003

Abstract

Details

Industrial Robot: An International Journal, vol. 30 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 16 May 2016

Steve W. Heim, Mostafa Ajallooeian, Peter Eckert, Massimo Vespignani and Auke Jan Ijspeert

The purpose of this paper is to explore the possible roles of active tails for steady-state legged locomotion, focusing on a design principle which simplifies control by…

Abstract

Purpose

The purpose of this paper is to explore the possible roles of active tails for steady-state legged locomotion, focusing on a design principle which simplifies control by decoupling different control objectives.

Design/methodology/approach

A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. These models suggest that the overall control problem can be simplified and effectively decoupled via a proper tail design. This design principle is further explored in simulation using trajectory optimization. The results are then validated in hardware using a one degree-of-freedom active tail mounted on the quadruped robot Cheetah-Cub.

Findings

The results of this paper show that an active tail can greatly improve both forward velocity and reduce body-pitch per stride while adding minimal complexity. Further, the results validate the design principle of using long, light tails compared to shorter heavier ones.

Originality/value

This paper builds on previous results, with a new focus on steady-state locomotion and in particular deals directly with stance phase dynamics. A novel design principle for tails is proposed and validated.

Details

Industrial Robot: An International Journal, vol. 43 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Content available
Article
Publication date: 12 October 2012

Abstract

Details

Industrial Robot: An International Journal, vol. 39 no. 6
Type: Research Article
ISSN: 0143-991X

Content available
Article
Publication date: 1 December 2001

Abstract

Details

Kybernetes, vol. 30 no. 9/10
Type: Research Article
ISSN: 0368-492X

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Article
Publication date: 5 October 2018

Fan Xu, Hesheng Wang, Weidong Chen and Jingchuan Wang

Soft robotics, regarded as a new research branch of robotics, has generated increasing interests in this decade and has demonstrated its outperformance in addressing…

Abstract

Purpose

Soft robotics, regarded as a new research branch of robotics, has generated increasing interests in this decade and has demonstrated its outperformance in addressing safety issues when cooperating with human beings. However, there is still lack of accurate close-loop control because of the difficulty in acquiring feedback information and accurately modeling the system, especially in interactive environments. To this end, this paper aims to improve the controllability of the soft robot working in specific underwater environment. The system dynamics, which takes complicated hydrodynamics into account, is solved using Kane’s method. The dynamics-based adaptive visual servoing controller is proposed to realize accurate sensorimotor control.

Design/methodology/approach

This paper presents an image-based visual servoing control scheme for a cable-driven soft robot with a fixed camera observing the motions. The intrinsic and extrinsic parameters of the camera can be adapted online so that tedious camera calibration work can be eliminated. It is acknowledged that kinematics-based control can be only applied into tasks in the free space and has limitation in accelerating the motion speed of robot arms. That is, one must consider the unneglectable interaction effects generated from the environment and objectives when operating soft robots in such interactive control tasks. To extend the application of soft robots into underwater environment, the study models system dynamics considering complicated hydrodynamic effects. With the pre-knowledge of the external effects, the performance of the robot can be further improved by adding the compensation term into the controller.

Findings

The proposed controller has theoretically proved its convergence of image error, adaptive estimation error and the stability of the dynamical system based on Lyapunov’s analysis. The authors also validate the performance of the controller in positioning control task in an underwater environment. The controller shows its capacity of rapid convergence to and accurate tracking performance of a static image target in a physical experiment.

Originality/value

To the best of the authors’ knowledge, there is no such research before that has developed dynamics-based visual servoing controller which takes into account the environment interactions. This work can thus improve the control accuracy and enhance the applicability of soft robotics when operating in complicated environments.

Details

Assembly Automation, vol. 38 no. 5
Type: Research Article
ISSN: 0144-5154

Keywords

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