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robots</title> <meta name="description" content="Search results for: Walking robots"> <meta name="keywords" content="Walking robots"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button class="d-block d-lg-none navbar-toggler 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class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value="Walking robots"> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 281</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: Walking robots</h1> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">281</span> Walking Hexapod Robot in Disaster Recovery: Developing Algorithm for Terrain Negotiation and Navigation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Md.%20Masum%20Billah">Md. Masum Billah</a>, <a href="https://publications.waset.org/search?q=Mohiuddin%20Ahmed"> Mohiuddin Ahmed</a>, <a href="https://publications.waset.org/search?q=Soheli%20Farhana"> Soheli Farhana</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In modern day disaster recovery mission has become one of the top priorities in any natural disaster management regime. Smart autonomous robots may play a significant role in such missions, including search for life under earth quake hit rubbles, Tsunami hit islands, de-mining in war affected areas and many other such situations. In this paper current state of many walking robots are compared and advantages of hexapod systems against wheeled robots are described. In our research we have selected a hexapod spider robot; we are developing focusing mainly on efficient navigation method in different terrain using apposite gait of locomotion, which will make it faster and at the same time energy efficient to navigate and negotiate difficult terrain. This paper describes the method of terrain negotiation navigation in a hazardous field. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Walking%20robots" title="Walking robots">Walking robots</a>, <a href="https://publications.waset.org/search?q=locomotion" title=" locomotion"> locomotion</a>, <a href="https://publications.waset.org/search?q=hexapod%20robot" title=" hexapod robot"> hexapod robot</a>, <a href="https://publications.waset.org/search?q=gait" title=" gait"> gait</a>, <a href="https://publications.waset.org/search?q=hazardous%20field." title="hazardous field.">hazardous field.</a> </p> <a href="https://publications.waset.org/15549/walking-hexapod-robot-in-disaster-recovery-developing-algorithm-for-terrain-negotiation-and-navigation" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/15549/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/15549/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/15549/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/15549/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/15549/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/15549/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/15549/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/15549/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/15549/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/15549/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/15549.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">4433</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">280</span> ZMP Based Reference Generation for Biped Walking Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Kemalettin%20Erbatur">Kemalettin Erbatur</a>, <a href="https://publications.waset.org/search?q=%C3%96zer%20Koca"> 脰zer Koca</a>, <a href="https://publications.waset.org/search?q=Evrim%20Ta%C5%9Fk%C4%B1ran"> Evrim Ta艧k谋ran</a>, <a href="https://publications.waset.org/search?q=Metin%20Y%C4%B1lmaz"> Metin Y谋lmaz</a>, <a href="https://publications.waset.org/search?q=Utku%20Seven"> Utku Seven</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important role in control. Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained from predefined ZMP reference trajectories by a Fourier series approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference trajectories possess pre-assigned single and double support phases, which are very useful in experimental tuning work. The ZMP based reference generation strategy is tested via threedimensional full-dynamics simulations of a 12-degrees-of-freedom biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Biped%20robot" title="Biped robot">Biped robot</a>, <a href="https://publications.waset.org/search?q=Linear%20Inverted%20Pendulum%20Model" title=" Linear Inverted Pendulum Model"> Linear Inverted Pendulum Model</a>, <a href="https://publications.waset.org/search?q=Zero%20Moment%20Point" title=" Zero Moment Point"> Zero Moment Point</a>, <a href="https://publications.waset.org/search?q=Fourier%20series%20approximation." title=" Fourier series approximation."> Fourier series approximation.</a> </p> <a href="https://publications.waset.org/15521/zmp-based-reference-generation-for-biped-walking-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/15521/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/15521/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/15521/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/15521/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/15521/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/15521/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/15521/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/15521/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/15521/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/15521/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/15521.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1631</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">279</span> Control of Underactuated Biped Robots Using Event Based Fuzzy Partial Feedback Linearization</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Omid%20Heydarnia">Omid Heydarnia</a>, <a href="https://publications.waset.org/search?q=Akbar%20Allahverdizadeh"> Akbar Allahverdizadeh</a>, <a href="https://publications.waset.org/search?q=Behnam%20Dadashzadeh"> Behnam Dadashzadeh</a>, <a href="https://publications.waset.org/search?q=M.%20R.%20Sayyed%20Noorani"> M. R. Sayyed Noorani</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Underactuated%20system" title="Underactuated system">Underactuated system</a>, <a href="https://publications.waset.org/search?q=biped%20robot" title=" biped robot"> biped robot</a>, <a href="https://publications.waset.org/search?q=fuzzy%20control" title=" fuzzy control"> fuzzy control</a>, <a href="https://publications.waset.org/search?q=partial%20feedback%20linearization." title=" partial feedback linearization. "> partial feedback linearization. </a> </p> <a href="https://publications.waset.org/10005223/control-of-underactuated-biped-robots-using-event-based-fuzzy-partial-feedback-linearization" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10005223/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10005223/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10005223/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10005223/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10005223/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10005223/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10005223/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10005223/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10005223/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10005223/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10005223.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1771</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">278</span> Reactive Neural Control for Phototaxis and Obstacle Avoidance Behavior of Walking Machines</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Poramate%20Manoonpong">Poramate Manoonpong</a>, <a href="https://publications.waset.org/search?q=Frank%20Pasemann"> Frank Pasemann</a>, <a href="https://publications.waset.org/search?q=Florentin%20W%C3%B6rg%C3%B6tter"> Florentin W枚rg枚tter</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper describes reactive neural control used to generate phototaxis and obstacle avoidance behavior of walking machines. It utilizes discrete-time neurodynamics and consists of two main neural modules: neural preprocessing and modular neural control. The neural preprocessing network acts as a sensory fusion unit. It filters sensory noise and shapes sensory data to drive the corresponding reactive behavior. On the other hand, modular neural control based on a central pattern generator is applied for locomotion of walking machines. It coordinates leg movements and can generate omnidirectional walking. As a result, through a sensorimotor loop this reactive neural controller enables the machines to explore a dynamic environment by avoiding obstacles, turn toward a light source, and then stop near to it. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Recurrent%20neural%20networks" title="Recurrent neural networks">Recurrent neural networks</a>, <a href="https://publications.waset.org/search?q=Walking%20robots" title=" Walking robots"> Walking robots</a>, <a href="https://publications.waset.org/search?q=Modular%0Aneural%20control" title=" Modular neural control"> Modular neural control</a>, <a href="https://publications.waset.org/search?q=Phototaxis" title=" Phototaxis"> Phototaxis</a>, <a href="https://publications.waset.org/search?q=Obstacle%20avoidance%20behavior." title=" Obstacle avoidance behavior."> Obstacle avoidance behavior.</a> </p> <a href="https://publications.waset.org/11240/reactive-neural-control-for-phototaxis-and-obstacle-avoidance-behavior-of-walking-machines" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/11240/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/11240/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/11240/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/11240/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/11240/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/11240/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/11240/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/11240/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/11240/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/11240/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/11240.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1729</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">277</span> The Application of Rhizophora Wood to Design: A Walking Stick for Elderly</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Noppadon%20Sangwalpetch">Noppadon Sangwalpetch</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>The objective of this research is to use Rhizophora wood to design a walking stick for elderly. The research was conducted by studying the behavior and the type of walking sticks used by 70 elderly aged between 60-80 years in Pragnamdaeng Sub-District, Samudsongkram Province. Questionnaires were used to collect data which were calculated to find percentage, mean, and standard deviation. The results are as follows: 1) most elderly use walking sticks due to the Osteoarthritis of the knees. 2) Most elderly need to use walking sticks because the walking sticks help to balance their positioning and prevent from stumble. 3) Most elderly agree that Rhizophora wood is suitable to make a walking stick because of its strength and toughness. 4) The design of the walking stick should be fine and practical with comfortable handle and the tip of the stick must not be slippery.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Elderly" title="Elderly">Elderly</a>, <a href="https://publications.waset.org/search?q=Product%20design" title=" Product design"> Product design</a>, <a href="https://publications.waset.org/search?q=Rhizophora%20wood" title=" Rhizophora wood"> Rhizophora wood</a>, <a href="https://publications.waset.org/search?q=Walking%20Stick." title=" Walking Stick."> Walking Stick.</a> </p> <a href="https://publications.waset.org/9998168/the-application-of-rhizophora-wood-to-design-a-walking-stick-for-elderly" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9998168/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9998168/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9998168/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9998168/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9998168/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9998168/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9998168/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9998168/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9998168/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9998168/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9998168.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2043</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">276</span> Creation of a Care Robot Impact Assessment</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=E.%20Fosch-Villaronga">E. Fosch-Villaronga</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper pioneers Care Robot Impact Assessment (CRIA), a methodology used to identify, analyze, mitigate and eliminate the risks posed by the insertion of non-medical personal care robots (PCR) in medical care facilities. Its precedent instruments [Privacy and Surveillance Impact Assessment (PIA and SIA)] fall behind in coping with robots. Indeed, personal care robots change dramatically how care is delivered. The paper presents a specific risk-sector methodology, identifies which robots are under its scope and presents some of the challenges introduced by these robots. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Ethics" title="Ethics">Ethics</a>, <a href="https://publications.waset.org/search?q=Impact%20Assessment" title=" Impact Assessment"> Impact Assessment</a>, <a href="https://publications.waset.org/search?q=Law" title=" Law"> Law</a>, <a href="https://publications.waset.org/search?q=Personal%20Care%0D%0ARobots." title=" Personal Care Robots."> Personal Care Robots.</a> </p> <a href="https://publications.waset.org/10001664/creation-of-a-care-robot-impact-assessment" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10001664/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10001664/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10001664/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10001664/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10001664/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10001664/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10001664/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10001664/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10001664/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10001664/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10001664.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">3064</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">275</span> A New Center of Motion in Cabling Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=A.%20Abbasi%20Moshaii">A. Abbasi Moshaii</a>, <a href="https://publications.waset.org/search?q=F.%20Najafi"> F. Najafi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper a new model for center of motion creating is proposed. This new method uses cables. So, it is very useful in robots because it is light and has easy assembling process. In the robots which need to be in touch with some things this method is so useful. It will be described in the following. The accuracy of the idea is proved by two experiments. This system could be used in the robots which need a fixed point in the contact with some things and make a circular motion. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Center%20of%20Motion" title="Center of Motion">Center of Motion</a>, <a href="https://publications.waset.org/search?q=Robotic%20cables" title=" Robotic cables"> Robotic cables</a>, <a href="https://publications.waset.org/search?q=permanent%0D%0Atouching." title=" permanent touching."> permanent touching.</a> </p> <a href="https://publications.waset.org/10001850/a-new-center-of-motion-in-cabling-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10001850/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10001850/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10001850/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10001850/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10001850/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10001850/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10001850/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10001850/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10001850/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10001850/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10001850.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1668</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">274</span> Walking and Sustainable Urban Transportation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Khashayar%20Kashani%20Jou">Khashayar Kashani Jou</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Walking as a type of non-motorized transportation has various social, economical and environmental privileges. Also, today different aspects of sustainable development have been emphasized and promotion of sustainable transportation modes has been considered according to this approach. Therefore, the objective of this research is exploring the circumstance of relationship between walking and sustainable urban transportation.For writing this article, the most important resources related to the traits of walking have been surveyed via a documentary method and after explaining the concept of sustainable transportation and its indicators, benefiting from the viewpoints of transportation experts of Tehran, as the capital and greatest city of Iran, different modes of urban transportation have been compared in proportion to each criterion and to each other and have been analyzed according to AHP method. The results of this study indicate that walking is the most sustainable mode of inner city transportation. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Walking" title="Walking">Walking</a>, <a href="https://publications.waset.org/search?q=Non-motorized%20transportation" title=" Non-motorized transportation"> Non-motorized transportation</a>, <a href="https://publications.waset.org/search?q=Sustainable%0Atransportation" title=" Sustainable transportation"> Sustainable transportation</a>, <a href="https://publications.waset.org/search?q=AHP" title=" AHP"> AHP</a> </p> <a href="https://publications.waset.org/9095/walking-and-sustainable-urban-transportation" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9095/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9095/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9095/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9095/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9095/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9095/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9095/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9095/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9095/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9095/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9095.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2034</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">273</span> Robust Stabilization of Rotational Motion of Underwater Robots against Parameter Uncertainties</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Riku%20Hayashida">Riku Hayashida</a>, <a href="https://publications.waset.org/search?q=Tomoaki%20Hashimoto"> Tomoaki Hashimoto</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper provides a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. Underwater robots are expected to be used for various work assignments. The large variety of applications of underwater robots motivates researchers to develop control systems and technologies for underwater robots. Several control methods have been proposed so far for the stabilization of nominal system model of underwater robots with no parameter uncertainty. Parameter uncertainties are considered to be obstacles in implementation of the such nominal control methods for underwater robots. The objective of this study is to establish a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. The effectiveness of the proposed method is verified by numerical simulations. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Robust%20control" title="Robust control">Robust control</a>, <a href="https://publications.waset.org/search?q=stabilization%20method" title=" stabilization method"> stabilization method</a>, <a href="https://publications.waset.org/search?q=underwater%0D%0Arobot" title=" underwater robot"> underwater robot</a>, <a href="https://publications.waset.org/search?q=parameter%20uncertainty." title=" parameter uncertainty."> parameter uncertainty.</a> </p> <a href="https://publications.waset.org/10011460/robust-stabilization-of-rotational-motion-of-underwater-robots-against-parameter-uncertainties" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10011460/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10011460/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10011460/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10011460/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10011460/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10011460/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10011460/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10011460/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10011460/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10011460/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10011460.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">569</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">272</span> Self-protection Method for Flying Robots to Avoid Collision</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Guosheng%20Wu">Guosheng Wu</a>, <a href="https://publications.waset.org/search?q=Luning%20Wang"> Luning Wang</a>, <a href="https://publications.waset.org/search?q=Changyuan%20Fan"> Changyuan Fan</a>, <a href="https://publications.waset.org/search?q=Xi%20Zhu"> Xi Zhu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper provides a new approach to solve the motion planning problems of flying robots in uncertain 3D dynamic environments. The robots controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new method accomplishes collision avoidance of flying robots without any other auxiliary positioning systems. The Self-protection System gives robots self-protection abilities to work in uncertain 3D dynamic environments. Simulations illustrate the validity of the proposed method.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Collision%20avoidance" title="Collision avoidance">Collision avoidance</a>, <a href="https://publications.waset.org/search?q=Mobile%20robots" title=" Mobile robots"> Mobile robots</a>, <a href="https://publications.waset.org/search?q=Motion-planning" title="Motion-planning">Motion-planning</a>, <a href="https://publications.waset.org/search?q=Sphere%20coordinates" title=" Sphere coordinates"> Sphere coordinates</a>, <a href="https://publications.waset.org/search?q=Self-protection." title=" Self-protection."> Self-protection.</a> </p> <a href="https://publications.waset.org/9721/self-protection-method-for-flying-robots-to-avoid-collision" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9721/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9721/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9721/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9721/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9721/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9721/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9721/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9721/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9721/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9721/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9721.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1581</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">271</span> Navigation of Multiple Mobile Robots using Rule-based-Neuro-Fuzzy Technique</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Saroj%20Kumar%20Pradhan">Saroj Kumar Pradhan</a>, <a href="https://publications.waset.org/search?q=Dayal%20Ramakrushna%20Parhi"> Dayal Ramakrushna Parhi</a>, <a href="https://publications.waset.org/search?q=Anup%20Kumar%20Panda"> Anup Kumar Panda</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper deals with motion planning of multiple mobile robots. Mobile robots working together to achieve several objectives have many advantages over single robot system. However, the planning and coordination between the mobile robots is extremely difficult. In the present investigation rule-based and rulebased- neuro-fuzzy techniques are analyzed for multiple mobile robots navigation in an unknown or partially known environment. The final aims of the robots are to reach some pre-defined goals. Based upon a reference motion, direction; distances between the robots and obstacles; and distances between the robots and targets; different types of rules are taken heuristically and refined later to find the steering angle. The control system combines a repelling influence related to the distance between robots and nearby obstacles and with an attracting influence between the robots and targets. Then a hybrid rule-based-neuro-fuzzy technique is analysed to find the steering angle of the robots. Simulation results show that the proposed rulebased- neuro-fuzzy technique can improve navigation performance in complex and unknown environments compared to this simple rulebased technique. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Mobile%20robots" title="Mobile robots">Mobile robots</a>, <a href="https://publications.waset.org/search?q=Navigation" title=" Navigation"> Navigation</a>, <a href="https://publications.waset.org/search?q=Neuro-fuzzy" title=" Neuro-fuzzy"> Neuro-fuzzy</a>, <a href="https://publications.waset.org/search?q=Obstacle%0Aavoidance" title=" Obstacle avoidance"> Obstacle avoidance</a>, <a href="https://publications.waset.org/search?q=Rule-based" title=" Rule-based"> Rule-based</a>, <a href="https://publications.waset.org/search?q=Target%20seeking" title=" Target seeking"> Target seeking</a> </p> <a href="https://publications.waset.org/15189/navigation-of-multiple-mobile-robots-using-rule-based-neuro-fuzzy-technique" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/15189/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/15189/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/15189/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/15189/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/15189/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/15189/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/15189/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/15189/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/15189/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/15189/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/15189.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1793</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">270</span> Human Walking Vertical Force and Vertical Vibration of Pedestrian Bridge Induced by Its Higher Components</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=M.%20Yoneda">M. Yoneda</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>The purpose of this study is to identify human walking vertical force by using FFT power spectrum density from the experimental acceleration data of the human body. An experiment on human walking is carried out on a stationary floor especially paying attention to higher components of dynamic vertical walking force. Based on measured acceleration data of the human lumbar part, not only in-phase component with frequency of 2fw, 3fw, but also in-opposite-phase component with frequency of 0.5 fw, 1.5 fw, 2.5 fw where fw is the walking rate is observed. The vertical vibration of pedestrian bridge induced by higher components of human walking vertical force is also discussed in this paper. A full scale measurement for the existing pedestrian bridge with center span length of 33 m is carried out focusing on the resonance phenomenon due to higher components of human walking vertical force. Dynamic response characteristics excited by these vertical higher components of human walking are revealed from the dynamic design viewpoint of pedestrian bridge.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Simplified%20method" title="Simplified method">Simplified method</a>, <a href="https://publications.waset.org/search?q=Human%20walking%20vertical%20force" title=" Human walking vertical force"> Human walking vertical force</a>, <a href="https://publications.waset.org/search?q=Higher%20component" title=" Higher component"> Higher component</a>, <a href="https://publications.waset.org/search?q=Pedestrian%20bridge%20vibration." title=" Pedestrian bridge vibration."> Pedestrian bridge vibration.</a> </p> <a href="https://publications.waset.org/10002517/human-walking-vertical-force-and-vertical-vibration-of-pedestrian-bridge-induced-by-its-higher-components" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10002517/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10002517/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10002517/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10002517/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10002517/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10002517/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10002517/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10002517/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10002517/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10002517/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10002517.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1815</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">269</span> Energy Management Techniques in Mobile Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=G.%20Gurguze">G. Gurguze</a>, <a href="https://publications.waset.org/search?q=I.%20Turkoglu"> I. Turkoglu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Today, the developing features of technological tools with limited energy resources have made it necessary to use energy efficiently. Energy management techniques have emerged for this purpose. As with every field, energy management is vital for robots that are being used in many areas from industry to daily life and that are thought to take up more spaces in the future. Particularly, effective power management in autonomous and multi robots, which are getting more complicated and increasing day by day, will improve the performance and success. In this study, robot management algorithms, usage of renewable and hybrid energy sources, robot motion patterns, robot designs, sharing strategies of workloads in multiple robots, road and mission planning algorithms are discussed for efficient use of energy resources by mobile robots. These techniques have been evaluated in terms of efficient use of existing energy resources and energy management in robots.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Energy%20management" title="Energy management">Energy management</a>, <a href="https://publications.waset.org/search?q=mobile%20robot" title=" mobile robot"> mobile robot</a>, <a href="https://publications.waset.org/search?q=robot%20administration" title=" robot administration"> robot administration</a>, <a href="https://publications.waset.org/search?q=robot%20management" title=" robot management"> robot management</a>, <a href="https://publications.waset.org/search?q=robot%20planning." title=" robot planning."> robot planning.</a> </p> <a href="https://publications.waset.org/10008515/energy-management-techniques-in-mobile-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10008515/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10008515/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10008515/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10008515/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10008515/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10008515/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10008515/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10008515/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10008515/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10008515/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10008515.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1570</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">268</span> Representations of Childcare Robots as a Controversial Issue</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Raya%20A.%20Jones">Raya A. Jones</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper interrogates online representations of robot companions for children, including promotional material by manufacturers, media articles and technology blogs. The significance of the study lies in its contribution to understanding attitudes to robots. The prospect of childcare robots is particularly controversial ethically, and is associated with emotive arguments. The sampled material is restricted to relatively recent posts (the past three years) though the analysis identifies both continuous and changing themes across the past decade. The method extrapolates social representations theory towards examining the ways in which information about robotic products is provided for the general public. Implications for social acceptance of robot companions for the home and robot ethics are considered.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Acceptance%20of%20robots" title="Acceptance of robots">Acceptance of robots</a>, <a href="https://publications.waset.org/search?q=childcare%20robots" title=" childcare robots"> childcare robots</a>, <a href="https://publications.waset.org/search?q=ethics" title=" ethics"> ethics</a>, <a href="https://publications.waset.org/search?q=social%20representations." title=" social representations. "> social representations. </a> </p> <a href="https://publications.waset.org/10007602/representations-of-childcare-robots-as-a-controversial-issue" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10007602/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10007602/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10007602/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10007602/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10007602/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10007602/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10007602/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10007602/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10007602/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10007602/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10007602.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1037</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">267</span> Deadline Missing Prediction for Mobile Robots through the Use of Historical Data</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Edwaldo%20R.%20B.%20Monteiro">Edwaldo R. B. Monteiro</a>, <a href="https://publications.waset.org/search?q=Patricia%20D.%20M.%20Plentz"> Patricia D. M. Plentz</a>, <a href="https://publications.waset.org/search?q=Edson%20R.%20De%20Pieri"> Edson R. De Pieri</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Mobile robotics is gaining an increasingly important role in modern society. Several potentially dangerous or laborious tasks for human are assigned to mobile robots, which are increasingly capable. Many of these tasks need to be performed within a specified period, i.e, meet a deadline. Missing the deadline can result in financial and/or material losses. Mechanisms for predicting the missing of deadlines are fundamental because corrective actions can be taken to avoid or minimize the losses resulting from missing the deadline. In this work we propose a simple but reliable deadline missing prediction mechanism for mobile robots through the use of historical data and we use the Pioneer 3-DX robot for experiments and simulations, one of the most popular robots in academia.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Deadline%20missing" title="Deadline missing">Deadline missing</a>, <a href="https://publications.waset.org/search?q=historical%20data" title=" historical data"> historical data</a>, <a href="https://publications.waset.org/search?q=mobile%20robots" title=" mobile robots"> mobile robots</a>, <a href="https://publications.waset.org/search?q=prediction%20mechanism." title=" prediction mechanism."> prediction mechanism.</a> </p> <a href="https://publications.waset.org/9998146/deadline-missing-prediction-for-mobile-robots-through-the-use-of-historical-data" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9998146/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9998146/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9998146/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9998146/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9998146/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9998146/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9998146/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9998146/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9998146/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9998146/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9998146.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1809</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">266</span> Designing a Robust Controller for a 6 Linkage Robot </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=G.%20Khamooshian">G. Khamooshian</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>One of the main points of application of the mechanisms of the series and parallel is the subject of managing them. The control of this mechanism and similar mechanisms is one that has always been the intention of the scholars. On the other hand, modeling the behavior of the system is difficult due to the large number of its parameters, and it leads to complex equations that are difficult to solve and eventually difficult to control. In this paper, a six-linkage robot has been presented that could be used in different areas such as medical robots. Using these robots needs a robust control. In this paper, the system equations are first found, and then the system conversion function is written. A new controller has been designed for this robot which could be used in other parallel robots and could be very useful. Parallel robots are so important in robotics because of their stability, so methods for control of them are important and the robust controller, especially in parallel robots, makes a sense.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=3-RRS" title="3-RRS">3-RRS</a>, <a href="https://publications.waset.org/search?q=6%20linkage" title=" 6 linkage"> 6 linkage</a>, <a href="https://publications.waset.org/search?q=parallel%20robot" title=" parallel robot"> parallel robot</a>, <a href="https://publications.waset.org/search?q=control." title=" control."> control.</a> </p> <a href="https://publications.waset.org/10009798/designing-a-robust-controller-for-a-6-linkage-robot" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10009798/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10009798/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10009798/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10009798/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10009798/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10009798/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10009798/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10009798/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10009798/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10009798/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10009798.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">669</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">265</span> Distributed Coverage Control by Robot Networks in Unknown Environments Using a Modified EM Algorithm</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Mohammadhosein%20Hasanbeig">Mohammadhosein Hasanbeig</a>, <a href="https://publications.waset.org/search?q=Lacra%20Pavel"> Lacra Pavel</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, we study a distributed control algorithm for the problem of unknown area coverage by a network of robots. The coverage objective is to locate a set of targets in the area and to minimize the robots’ energy consumption. The robots have no prior knowledge about the location and also about the number of the targets in the area. One efficient approach that can be used to relax the robots’ lack of knowledge is to incorporate an auxiliary learning algorithm into the control scheme. A learning algorithm actually allows the robots to explore and study the unknown environment and to eventually overcome their lack of knowledge. The control algorithm itself is modeled based on game theory where the network of the robots use their collective information to play a non-cooperative potential game. The algorithm is tested via simulations to verify its performance and adaptability. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Distributed%20control" title="Distributed control">Distributed control</a>, <a href="https://publications.waset.org/search?q=game%20theory" title=" game theory"> game theory</a>, <a href="https://publications.waset.org/search?q=multi-agent%20learning" title=" multi-agent learning"> multi-agent learning</a>, <a href="https://publications.waset.org/search?q=reinforcement%20learning." title=" reinforcement learning."> reinforcement learning.</a> </p> <a href="https://publications.waset.org/10007337/distributed-coverage-control-by-robot-networks-in-unknown-environments-using-a-modified-em-algorithm" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10007337/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10007337/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10007337/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10007337/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10007337/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10007337/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10007337/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10007337/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10007337/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10007337/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10007337.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">973</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">264</span> Design and Trajectory Planning of Bipedal Walking Robot with Minimum Sufficient Actuation System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=H.%20Siswoyo%20Jo">H. Siswoyo Jo</a>, <a href="https://publications.waset.org/search?q=N.%20Mir-Nasiri"> N. Mir-Nasiri</a>, <a href="https://publications.waset.org/search?q=E.%20Jayamani"> E. Jayamani</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper presents a new type of mechanism and trajectory planning strategy for bipedal walking robot. The newly designed mechanism is able to improve the performance of bipedal walking robot in terms of energy efficiency and weight reduction by utilizing minimum number of actuators. The usage of parallelogram mechanism eliminates the needs of having an extra actuator at the knee joint. This mechanism works together with the joint space trajectory planning in order to realize straight legged walking which cannot be achieved by conventional inverse kinematics trajectory planning due to the singularity. The effectiveness of the proposed strategy is confirmed by computer simulation results.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Bipedal%20robot" title="Bipedal robot">Bipedal robot</a>, <a href="https://publications.waset.org/search?q=Energy%20efficiency" title=" Energy efficiency"> Energy efficiency</a>, <a href="https://publications.waset.org/search?q=Straight%20legged%20walking" title=" Straight legged walking"> Straight legged walking</a>, <a href="https://publications.waset.org/search?q=Trajectory%20planning." title=" Trajectory planning."> Trajectory planning.</a> </p> <a href="https://publications.waset.org/1106/design-and-trajectory-planning-of-bipedal-walking-robot-with-minimum-sufficient-actuation-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/1106/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/1106/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/1106/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/1106/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/1106/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/1106/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/1106/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/1106/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/1106/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/1106/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/1106.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1856</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">263</span> Intelligent Swarm-Finding in Formation Control of Multi-Robots to Track a Moving Target</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Anh%20Duc%20Dang">Anh Duc Dang</a>, <a href="https://publications.waset.org/search?q=Joachim%20Horn"> Joachim Horn</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper presents a new approach to control robots, which can quickly find their swarm while tracking a moving target through the obstacles of the environment. In this approach, an artificial potential field is generated between each free-robot and the virtual attractive point of the swarm. This artificial potential field will lead free-robots to their swarm. The swarm-finding of these free-robots dose not influence the general motion of their swarm and nor other robots. When one singular robot approaches the swarm then its swarm-search will finish, and it will further participate with its swarm to reach the position of the target. The connections between member-robots with their neighbors are controlled by the artificial attractive/repulsive force field between them to avoid collisions and keep the constant distances between them in ordered formation. The effectiveness of the proposed approach has been verified in simulations.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Formation%20control" title="Formation control">Formation control</a>, <a href="https://publications.waset.org/search?q=potential%20field%20method" title=" potential field method"> potential field method</a>, <a href="https://publications.waset.org/search?q=obstacle%20avoidance" title=" obstacle avoidance"> obstacle avoidance</a>, <a href="https://publications.waset.org/search?q=swarm%20intelligence" title=" swarm intelligence"> swarm intelligence</a>, <a href="https://publications.waset.org/search?q=multi-agent%20systems." title=" multi-agent systems."> multi-agent systems.</a> </p> <a href="https://publications.waset.org/9997936/intelligent-swarm-finding-in-formation-control-of-multi-robots-to-track-a-moving-target" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9997936/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9997936/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9997936/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9997936/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9997936/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9997936/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9997936/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9997936/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9997936/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9997936/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9997936.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2187</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">262</span> Localization of Mobile Robots with Omnidirectional Cameras</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Tatsuya%20Kato">Tatsuya Kato</a>, <a href="https://publications.waset.org/search?q=Masanobu%20Nagata"> Masanobu Nagata</a>, <a href="https://publications.waset.org/search?q=Hidetoshi%20Nakashima"> Hidetoshi Nakashima</a>, <a href="https://publications.waset.org/search?q=Kazunori%20Matsuo"> Kazunori Matsuo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Localization of mobile robots are important tasks for developing autonomous mobile robots. This paper proposes a method to estimate positions of a mobile robot using a omnidirectional camera on the robot. Landmarks for points of references are set up on a field where the robot works. The omnidirectional camera which can obtain 360 [deg] around images takes photographs of these landmarks. The positions of the robots are estimated from directions of these landmarks that are extracted from the images by image processing. This method can obtain the robot positions without accumulative position errors. Accuracy of the estimated robot positions by the proposed method are evaluated through some experiments. The results show that it can obtain the positions with small standard deviations. Therefore the method has possibilities of more accurate localization by tuning of appropriate offset parameters.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Mobile%20robots" title="Mobile robots">Mobile robots</a>, <a href="https://publications.waset.org/search?q=Localization" title=" Localization"> Localization</a>, <a href="https://publications.waset.org/search?q=Omnidirectional%20camera." title=" Omnidirectional camera."> Omnidirectional camera.</a> </p> <a href="https://publications.waset.org/9998919/localization-of-mobile-robots-with-omnidirectional-cameras" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9998919/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9998919/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9998919/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9998919/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9998919/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9998919/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9998919/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9998919/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9998919/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9998919/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9998919.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2336</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">261</span> Cooperative Multi Agent Soccer Robot Team</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Vahid%20Rostami">Vahid Rostami</a>, <a href="https://publications.waset.org/search?q=Saeed%20Ebrahimijam"> Saeed Ebrahimijam</a>, <a href="https://publications.waset.org/search?q=P.khajehpoor"> P.khajehpoor</a>, <a href="https://publications.waset.org/search?q=P.Mirzaei"> P.Mirzaei</a>, <a href="https://publications.waset.org/search?q=Mahdi%20Yousefiazar"> Mahdi Yousefiazar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper introduces our first efforts of developing a new team for RoboCup Middle Size Competition. In our robots we have applied omni directional based mobile system with omnidirectional vision system and fuzzy control algorithm to navigate robots. The control architecture of MRL middle-size robots is a three layered architecture, Planning, Sequencing, and Executing. It also uses Blackboard system to achieve coordination among agents. Moreover, the architecture should have minimum dependency on low level structure and have a uniform protocol to interact with real robot. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Robocup" title="Robocup">Robocup</a>, <a href="https://publications.waset.org/search?q=Soccer%20robots" title=" Soccer robots"> Soccer robots</a>, <a href="https://publications.waset.org/search?q=Fuzzy%20controller" title=" Fuzzy controller"> Fuzzy controller</a>, <a href="https://publications.waset.org/search?q=Multi%0Aagent." title=" Multi agent."> Multi agent.</a> </p> <a href="https://publications.waset.org/13069/cooperative-multi-agent-soccer-robot-team" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/13069/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/13069/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/13069/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/13069/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/13069/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/13069/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/13069/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/13069/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/13069/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/13069/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/13069.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1558</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">260</span> Target Trajectory Design of Parametrically Excited Inverted Pendulum for Efficient Bipedal Walking</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Toyoyuki%20Honjo">Toyoyuki Honjo</a>, <a href="https://publications.waset.org/search?q=Takeshi%20Hayashi"> Takeshi Hayashi</a>, <a href="https://publications.waset.org/search?q=Akinori%20Nagano"> Akinori Nagano</a>, <a href="https://publications.waset.org/search?q=Zhi-Wei%20Luo"> Zhi-Wei Luo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> For stable bipedal gait generation on the level floor, efficient restoring of mechanical energy lost by heel collision at the ground is necessary. Parametric excitation principle is one of the solutions. We dealt with the robot-s total center of mass as an inverted pendulum to consider the total dynamics of the robot. Parametrically excited walking requires the use of continuous target trajectory that is close to discontinuous optimal trajectory. In this paper, we proposed the new target trajectory based on a position in the walking direction. We surveyed relations between walking performance and the parameters that form the target trajectory via numerical simulations. As a result, it was found that our target trajectory has the similar characteristics of a parametrically excited inverted pendulum. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Dynamic%20Bipedal%20Walking" title="Dynamic Bipedal Walking">Dynamic Bipedal Walking</a>, <a href="https://publications.waset.org/search?q=Parametric%20Excitation" title=" Parametric Excitation"> Parametric Excitation</a>, <a href="https://publications.waset.org/search?q=Target%0ATrajectory%20Design." title=" Target Trajectory Design."> Target Trajectory Design.</a> </p> <a href="https://publications.waset.org/2569/target-trajectory-design-of-parametrically-excited-inverted-pendulum-for-efficient-bipedal-walking" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/2569/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/2569/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/2569/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/2569/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/2569/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/2569/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/2569/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/2569/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/2569/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/2569/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/2569.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1677</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">259</span> Task Planning for Service Robots with Limited Feedback</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Chung-Woon%20Park">Chung-Woon Park</a>, <a href="https://publications.waset.org/search?q=Jungwoo%20Lee"> Jungwoo Lee</a>, <a href="https://publications.waset.org/search?q=Jong-Tae%20Lim"> Jong-Tae Lim</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, we propose a novel limited feedback scheme for task planning with service robots. Instead of sending the full service robot state information for the task planning, the proposed scheme send the best-M indices of service robots with a indicator. With the indicator, the proposed scheme significantly reduces the communication overhead for task planning as well as mitigates the system performance degradation in terms of the utility. In addition, we analyze the system performance of the proposed scheme and compare the proposed scheme with the other schemes.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Task%20Planning" title="Task Planning">Task Planning</a>, <a href="https://publications.waset.org/search?q=Service%20Robots" title=" Service Robots"> Service Robots</a>, <a href="https://publications.waset.org/search?q=Limited%20Feedback" title=" Limited Feedback"> Limited Feedback</a>, <a href="https://publications.waset.org/search?q=Scheduling" title="Scheduling">Scheduling</a> </p> <a href="https://publications.waset.org/4795/task-planning-for-service-robots-with-limited-feedback" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/4795/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/4795/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/4795/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/4795/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/4795/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/4795/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/4795/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/4795/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/4795/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/4795/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/4795.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1287</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">258</span> Adaptive Motion Planning for 6-DOF Robots Based on Trigonometric Functions</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Jincan%20Li">Jincan Li</a>, <a href="https://publications.waset.org/search?q=Mingyu%20Gao"> Mingyu Gao</a>, <a href="https://publications.waset.org/search?q=Zhiwei%20He"> Zhiwei He</a>, <a href="https://publications.waset.org/search?q=Yuxiang%20Yang"> Yuxiang Yang</a>, <a href="https://publications.waset.org/search?q=Zhongfei%20Yu"> Zhongfei Yu</a>, <a href="https://publications.waset.org/search?q=Yuanyuan%20Liu"> Yuanyuan Liu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Building an appropriate motion model is crucial for trajectory planning of robots and determines the operational quality directly. An adaptive acceleration and deceleration motion planning based on trigonometric functions for the end-effector of 6-DOF robots in Cartesian coordinate system is proposed in this paper. This method not only achieves the smooth translation motion and rotation motion by constructing a continuous jerk model, but also automatically adjusts the parameters of trigonometric functions according to the variable inputs and the kinematic constraints. The results of computer simulation show that this method is correct and effective to achieve the adaptive motion planning for linear trajectories.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=6-DOF%20robots" title="6-DOF robots">6-DOF robots</a>, <a href="https://publications.waset.org/search?q=motion%20planning" title=" motion planning"> motion planning</a>, <a href="https://publications.waset.org/search?q=trigonometric%20function" title=" trigonometric function"> trigonometric function</a>, <a href="https://publications.waset.org/search?q=kinematic%20constraints" title=" kinematic constraints"> kinematic constraints</a> </p> <a href="https://publications.waset.org/10009257/adaptive-motion-planning-for-6-dof-robots-based-on-trigonometric-functions" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10009257/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10009257/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10009257/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10009257/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10009257/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10009257/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10009257/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10009257/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10009257/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10009257/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10009257.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">924</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">257</span> Designing a Football Team of Robots from Beginning to End</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Maziar%20A.%20Sharbafi">Maziar A. Sharbafi</a>, <a href="https://publications.waset.org/search?q=Caro%20Lucas"> Caro Lucas</a>, <a href="https://publications.waset.org/search?q=Aida%20Mohammadinejad"> Aida Mohammadinejad</a>, <a href="https://publications.waset.org/search?q=Mostafa%20Yaghobi"> Mostafa Yaghobi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>The Combination of path planning and path following is the main purpose of this paper. This paper describes the developed practical approach to motion control of the MRL small size robots. An intelligent controller is applied to control omni-directional robots motion in simulation and real environment respectively. The Brain Emotional Learning Based Intelligent Controller (BELBIC), based on LQR control is adopted for the omni-directional robots. The contribution of BELBIC in improving the control system performance is shown as application of the emotional learning in a real world problem. Optimizing of the control effort can be achieved in this method too. Next the implicit communication method is used to determine the high level strategies and coordination of the robots. Some simple rules besides using the environment as a memory to improve the coordination between agents make the robots' decision making system. With this simple algorithm our team manifests a desirable cooperation.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=multi-agent%20systems%20%28MAS%29" title="multi-agent systems (MAS)">multi-agent systems (MAS)</a>, <a href="https://publications.waset.org/search?q=Emotional%20learning" title=" Emotional learning"> Emotional learning</a>, <a href="https://publications.waset.org/search?q=MIMO%20system" title=" MIMO system"> MIMO system</a>, <a href="https://publications.waset.org/search?q=BELBIC" title=" BELBIC"> BELBIC</a>, <a href="https://publications.waset.org/search?q=LQR" title=" LQR"> LQR</a>, <a href="https://publications.waset.org/search?q=Communication%20via%20environment" title=" Communication via environment"> Communication via environment</a> </p> <a href="https://publications.waset.org/5638/designing-a-football-team-of-robots-from-beginning-to-end" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/5638/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/5638/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/5638/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/5638/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/5638/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/5638/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/5638/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/5638/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/5638/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/5638/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/5638.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1853</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">256</span> Formation Control of Mobile Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Krishna%20S.%20Raghuwaiya">Krishna S. Raghuwaiya</a>, <a href="https://publications.waset.org/search?q=Shonal%20Singh"> Shonal Singh</a>, <a href="https://publications.waset.org/search?q=Jito%20Vanualailai"> Jito Vanualailai</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, we study the formation control problem for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Control" title="Control">Control</a>, <a href="https://publications.waset.org/search?q=Formation" title=" Formation"> Formation</a>, <a href="https://publications.waset.org/search?q=Lyapunov" title=" Lyapunov"> Lyapunov</a>, <a href="https://publications.waset.org/search?q=Nonholonomic" title=" Nonholonomic"> Nonholonomic</a> </p> <a href="https://publications.waset.org/11977/formation-control-of-mobile-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/11977/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/11977/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/11977/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/11977/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/11977/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/11977/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/11977/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/11977/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/11977/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/11977/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/11977.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2082</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">255</span> Attribute Based Comparison and Selection of Modular Self-Reconfigurable Robot Using Multiple Attribute Decision Making Approach</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Manpreet%20Singh">Manpreet Singh</a>, <a href="https://publications.waset.org/search?q=V.%20P.%20Agrawal"> V. P. Agrawal</a>, <a href="https://publications.waset.org/search?q=Gurmanjot%20Singh%20Bhatti"> Gurmanjot Singh Bhatti</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>From the last decades, there is a significant technological advancement in the field of robotics, and a number of modular self-reconfigurable robots were introduced that can help in space exploration, bucket to stuff, search, and rescue operation during earthquake, etc. As there are numbers of self-reconfigurable robots, choosing the optimum one is always a concern for robot user since there is an increase in available features, facilities, complexity, etc. The objective of this research work is to present a multiple attribute decision making based methodology for coding, evaluation, comparison ranking and selection of modular self-reconfigurable robots using a technique for order preferences by similarity to ideal solution approach. However, 86 attributes that affect the structure and performance are identified. A database for modular self-reconfigurable robot on the basis of different pertinent attribute is generated. This database is very useful for the user, for selecting a robot that suits their operational needs. Two visual methods namely linear graph and spider chart are proposed for ranking of modular self-reconfigurable robots. Using five robots (Atron, Smores, Polybot, M-Tran 3, Superbot), an example is illustrated, and raking of the robots is successfully done, which shows that Smores is the best robot for the operational need illustrated, and this methodology is found to be very effective and simple to use.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Self-reconfigurable%20robots" title="Self-reconfigurable robots">Self-reconfigurable robots</a>, <a href="https://publications.waset.org/search?q=MADM" title=" MADM"> MADM</a>, <a href="https://publications.waset.org/search?q=TOPSIS" title=" TOPSIS"> TOPSIS</a>, <a href="https://publications.waset.org/search?q=morphogenesis" title=" morphogenesis"> morphogenesis</a>, <a href="https://publications.waset.org/search?q=scalability." title=" scalability."> scalability.</a> </p> <a href="https://publications.waset.org/10008934/attribute-based-comparison-and-selection-of-modular-self-reconfigurable-robot-using-multiple-attribute-decision-making-approach" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10008934/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10008934/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10008934/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10008934/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10008934/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10008934/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10008934/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10008934/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10008934/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10008934/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10008934.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">890</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">254</span> Human Induced Dynamic Loading on Stairs</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=L.%20Gaile">L. Gaile</a>, <a href="https://publications.waset.org/search?q=I.%20Radinsh"> I. Radinsh</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Based on experimental data using accelerometry technology there was developed an analytical model that approximates human induced ground reaction forces in vertical, longitudinal and lateral directions ascending and descending the stairs. Proposed dynamic loading factors and corresponding phase shifts for the first five harmonics of continuous walking force history in case of stair ascend and descend. Into account is taken imperfectness of individual footfall forcing functions, differences between continuous walking force histories among individuals. There is proposed mean synthetic continuous walking force history that can be used in numerical simulations of human movement on the stairs.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=footfall" title="footfall">footfall</a>, <a href="https://publications.waset.org/search?q=ground%20reaction%20forces" title=" ground reaction forces"> ground reaction forces</a>, <a href="https://publications.waset.org/search?q=human%20loads" title=" human loads"> human loads</a>, <a href="https://publications.waset.org/search?q=serviceability" title=" serviceability"> serviceability</a>, <a href="https://publications.waset.org/search?q=stair%20vibration" title=" stair vibration"> stair vibration</a>, <a href="https://publications.waset.org/search?q=walking" title=" walking"> walking</a> </p> <a href="https://publications.waset.org/2719/human-induced-dynamic-loading-on-stairs" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/2719/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/2719/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/2719/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/2719/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/2719/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/2719/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/2719/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/2719/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/2719/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/2719/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/2719.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2247</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">253</span> Posture Stabilization of Kinematic Model of Differential Drive Robots via Lyapunov-Based Control Design</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Li%20Jie">Li Jie</a>, <a href="https://publications.waset.org/search?q=Zhang%20Wei"> Zhang Wei</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, the problem of posture stabilization for a kinematic model of differential drive robots is studied. A more complex model of the kinematics of differential drive robots is used for the design of stabilizing control. This model is formulated in terms of the physical parameters of the system such as the radius of the wheels, and velocity of the wheels are the control inputs of it. In this paper, the framework of Lyapunov-based control design has been used to solve posture stabilization problem for the comprehensive model of differential drive robots. The results of the simulations show that the devised controller successfully solves the posture regulation problem. Finally, robustness and performance of the controller have been studied under system parameter uncertainty. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Differential%20drive%20robots" title="Differential drive robots">Differential drive robots</a>, <a href="https://publications.waset.org/search?q=nonlinear%20control" title=" nonlinear control"> nonlinear control</a>, <a href="https://publications.waset.org/search?q=Lyapunov-based%20control%20design" title=" Lyapunov-based control design"> Lyapunov-based control design</a>, <a href="https://publications.waset.org/search?q=posture%20regulation." title=" posture regulation. "> posture regulation. </a> </p> <a href="https://publications.waset.org/10005580/posture-stabilization-of-kinematic-model-of-differential-drive-robots-via-lyapunov-based-control-design" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10005580/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10005580/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10005580/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10005580/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10005580/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10005580/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10005580/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10005580/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10005580/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10005580/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10005580.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1797</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">252</span> The Current State of Human Gait Simulator Development</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=V.%20Musalimov">V. Musalimov</a>, <a href="https://publications.waset.org/search?q=I.%20Stepanov"> I. Stepanov</a>, <a href="https://publications.waset.org/search?q=Y.%20Monahov"> Y. Monahov</a>, <a href="https://publications.waset.org/search?q=A.%20Safonov"> A. Safonov</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This report examines the current state of human gait simulator development based on the human hip joint model. This unit will create a database of human gait types, useful for setting up and calibrating Mechano devices, as well as the creation of new systems of rehabilitation, exoskeletons and walking robots. The system has many opportunities to configure the dimensions and stiffness, while maintaining relative simplicity. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Hip%20joint" title="Hip joint">Hip joint</a>, <a href="https://publications.waset.org/search?q=human%20gait" title=" human gait"> human gait</a>, <a href="https://publications.waset.org/search?q=physiotherapy" title=" physiotherapy"> physiotherapy</a>, <a href="https://publications.waset.org/search?q=simulation." title=" simulation."> simulation.</a> </p> <a href="https://publications.waset.org/10003151/the-current-state-of-human-gait-simulator-development" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10003151/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10003151/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a 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