... is determined by using IMU. The self‐localization system is used together with the RRT‐based motion planner, which allows to walk autonomously on rough, previously unknown terrain. The presented system operates on‐line on the real hexapod robot. Efficiency and precision of the proposed solution are demonstrated...

... energy consumption in the locomotion cycle and actuation energy requirements. Findings The fitted passive ankle motion provides toe‐off impulse, increases support force, and helps provide ground clearance. Originality/value A synergetic underactuated movement in the ankle joint, implemented...

... performance of mobile robots on rough terrain. These models can be used as a basis for advanced design, control and motion planning. Originality/value The paper describes an analytical approach for the study of the mobility characteristics of vehicles endowed with articulated suspension systems...

... Operation speed is an important index of palletizing robots performance. In order to improve it, features of palletizing motions are analyzed, and a refined iterative learning control algorithm for maximum speed optimization is proposed. The refined algorithm learns to increase local speed when...

.../methodology/approach This monocular odometery system uses as input only those images provided by a single camera mounted on the roof of the vehicle and the framework is composed of three main parts: image motion estimation, ego‐motion computation and visual odometry. The image motion is estimated based...

... was constructed. Findings A novel motion mechanism uses only one actuator for driving the system. Originality/value The modeled single actuator eight‐legged robot is original in terms of the developed motion mechanism. Servet Soyguder can be contacted at: ssoyguder@firat.edu.tr © Emerald Group...

... shortest robot track during reasonable planning times. For a 2.5D grid map, a planning method originated from D* algorithm is proposed, named as 2.5D D* algorithm. We will introduce the cost functions of 2.5D D* algorithm, as well as the criteria for replanning. Robots Motion Navigation...

... by a single motor with the interposition of an epicyclical gearing, accurately designed in order to suitably switch between wheeled and legged motion. The robot changes locomotion mode from rolling on wheels (advancing mode) to stepping on legs (automatic climbing mode) according to local friction and dynamic...

.../methodology/approach A well‐balanced size and complexity of the robot results in a robust platform that is easy to handle, yet able to perform complex maneuvers as well as to carry sophisticated 3D sensors. A very large range of motion allows the robot to actively explore its surroundings through haptic...

...Matthew Field; Zengxi Pan; David Stirling; Fazel Naghdy Purpose The purpose of this paper is to provide a review of various motion capture technologies and discuss the methods for handling the captured data in applications related to robotics. Design/methodology/approach The approach taken...

...Jun Zhou; Yueqing Yu Purpose The purpose of this paper is to present a novel and accurate coordination control method of dual‐arm modular robot based on position feedback using 3D motion measurement system – Optotrak3020. The end‐position accuracy of dual‐arm modular robot can be improved...

...Paul Bosscher; Daniel Hedman Purpose The purpose of this paper is to present an algorithm for performing collision avoidance with robotic manipulators. Design/methodology/approach The method does not require any a priori knowledge of the motion of other objects in its environment. Moreover...

...Khalil Alipour; S. Ali A. Moosavian Purpose A suspended wheeled mobile robot (SWMR) that consists of one or more manipulators can be exploited in various environmental conditions such as uneven surfaces. The purpose of this paper is to discuss the requirements for stable motion planning...

...Shouhong Miao; Qixin Cao Purpose The purpose of this paper is to present a two‐wheeled inverted pendulum with self‐tilt‐up motion ability. With this ability, the two‐wheeled inverted pendulum can erect without assistance, and then the vehicle can be autonomously deployed. The paper proposes...

...Tao Zhang; Yi Zhu; Jingyan Song Purpose The purpose of this paper is to focus on the local minima issue encountered in motion planning by the artificial potential field (APF) method, investigate the currently existing approaches and analyze four types of previous methods. Based on the conclusions...

...@dlut.edu.cn © Emerald Group Publishing Limited 2009 Programming and algorithm theory Motion Mechanics Because of its advantages of high stiffness, accuracy and payloads, six degree‐of‐freedom (DOF) Stewart platform has been received extensive attentions. The forward kinematics analysis...

... of BRHL is shown in Figure 6 . According to control strategy, coordination methods of dual‐arm and multi‐leg can be roughly divided into two categories, named master‐slave method and object‐oriented method separately (Guodong et al., 1996). The former studies the motion tracking of slave arm...

...Chuntao Leng; Qixin Cao Purpose The purpose of this paper is to propose a suitable motion planning for omni‐directional mobile robots (OMRs) by taking into account the motion characteristics. Design/methodology/approach Based on the kinematic and dynamic constraints, the maximum velocity...

... movement to enhance the locomotivity and survival ability of scout robot. After jumping over, the robot is in parabolic motion under the effect of its own weight, so the equation of motion for the robot is: Equation 14 Gangfeng Liu can be contacted at: liugangfeng@hit.edu.cn © Emerald...

.... The influence of caster and omniwheel to odometry is examined along with the influence of better controlled path shape. Evangelos Papadopoulos can be contacted at: egpapado@central.ntua.gr © Emerald Group Publishing Limited 2008 Calibration Robotics Motion Most industrial robots...