scholarly journals Interaction of a Humanoid Robot Nao with a Non-Humanoid Walking Robot

2017 ◽  
Vol 15 (4) ◽  
pp. 16-19
Author(s):  
A. Krastev ◽  
I. Chavdarov ◽  
M. Dimitrova
Keyword(s):  
Humanoid Robot ◽  
Low Cost ◽  
Target Position ◽  
Walking Robot ◽  
Task Execution ◽  
Change Of Direction ◽  
Nao Robot ◽  
Specific Construction ◽  
Novel Algorithm

Abstract The paper considers a novel algorithm for performing joint tasks between a humanoid robot NAO and a low-budget (Low-Cost) walking robot Big Foot. The specific construction of Big Foot allows movement by walking, change of direction and overcoming obstacles by using only two engines. The principle of movement of Big Foot is presented and the parameters, which determine the step and velocity of movement, are discussed. NAO robot sets the beginning of task execution and controls reaching the target position by the non-humanoid robot. NAO sonars are employed for this purpose. The non-humanoid robot Big Foot is controlled remotely by a human. The information on the timing of the executed movements and the reaching of the target is collected in several ways by using the sensors of NAO and Big Foot. The obtained results are analysed. Possibilities for application of the proposed algorithm are discussed.

Developing an Inkjet Printer I: RGB Image to CMY Ink Amounts - Image Processing and Color Management

2020 ◽  
Vol 2020 (15) ◽  
pp. 350-1-350-10
Author(s):  
Yin Wang ◽  
Baekdu Choi ◽  
Davi He ◽  
Zillion Lin ◽  
George Chiu ◽  
...  
Keyword(s):  
Image Processing ◽  
Low Cost ◽  
Experimental Results ◽  
Color Management ◽  
Finger Nail ◽  
Inkjet Printer ◽  
Rgb Image ◽  
Novel Algorithm

In this paper, we will introduce a novel low-cost, small size, portable nail printer. The usage of this system is to print any desired pattern on a finger nail in just a few minutes. The detailed pre-processing procedures will be described in this paper. These include image processing to find the correct printing zone, and color management to match the patterns’ color. In each phase, a novel algorithm will be introduced to refine the result. The paper will state the mathematical principles behind each phase, and show the experimental results, which illustrate the algorithms’ capabilities to handle the task.

Design and operation of a tripod walking robot via dynamics simulation

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 733-743 ◽  
Author(s):  
Conghui Liang ◽  
Hao Gu ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Three Dimensional ◽  
The Body ◽  
Dynamics Simulation ◽  
Walking Ability ◽  
Walking Robot ◽  
Three Dimensional Model ◽  
Software Environment ◽  
Leg Mechanisms

SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

Path optimization for navigation of a humanoid robot using hybridized fuzzy-genetic algorithm

2019 ◽  
Vol 7 (3) ◽  
pp. 112-119 ◽  
Author(s):  
Asita Kumar Rath ◽  
Dayal R. Parhi ◽  
Harish Chandra Das ◽  
Priyadarshi Biplab Kumar ◽  
Manoj Kumar Muni ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Fuzzy Logic ◽  
Path Planning ◽  
Humanoid Robot ◽  
Fuzzy Logic Controller ◽  
Target Location ◽  
Target Position ◽  
Content Type ◽  
Hybrid Controller ◽  
Fuzzy Genetic

Purpose Humanoids have become the center of attraction for many researchers dealing with robotics investigations by their ability to replace human efforts in critical interventions. As a result, navigation and path planning has emerged as one of the most promising area of research for humanoid models. In this paper, a fuzzy logic controller hybridized with genetic algorithm (GA) has been proposed for path planning of a humanoid robot to avoid obstacles present in a cluttered environment and reach the target location successfully. The paper aims to discuss these issues. Design/methodology/approach Here, sensor outputs for nearest obstacle distances and bearing angle of the humanoid are first fed as inputs to the fuzzy logic controller, and first turning angle (TA) is obtained as an intermediate output. In the second step, the first TA derived from the fuzzy logic controller is again supplied to the GA controller along with other inputs and second TA is obtained as the final output. The developed hybrid controller has been tested in a V-REP simulation platform, and the simulation results are verified in an experimental setup. Findings By implementation of the proposed hybrid controller, the humanoid has reached its defined target position successfully by avoiding the obstacles present in the arena both in simulation and experimental platforms. The results obtained from simulation and experimental platforms are compared in terms of path length and time taken with each other, and close agreements have been observed with minimal percentage of errors. Originality/value Humanoids are considered more efficient than their wheeled robotic forms by their ability to mimic human behavior. The current research deals with the development of a novel hybrid controller considering fuzzy logic and GA for navigational analysis of a humanoid robot. The developed control scheme has been tested in both simulation and real-time environments and proper agreements have been found between the results obtained from them. The proposed approach can also be applied to other humanoid forms and the technique can serve as a pioneer art in humanoid navigation.

scholarly journals ORHRO: OPEN Robotics Humanoid RObot - from a mechanical retrofit to a new real time industrial controller based walking robot

2019 ◽  
Vol 22 (sup1) ◽  
pp. S502-S504
Author(s):  
A. Eon ◽  
J. Gastebois ◽  
P. Laguillaumie ◽  
P. Vulliez ◽  
P. Seguin ◽  
...  
Keyword(s):  
Real Time ◽  
Humanoid Robot ◽  
Walking Robot ◽  
Industrial Controller

scholarly journals Accurate Landing of Unmanned Aerial Vehicles Using Ground Pattern Recognition

Electronics ◽  
2019 ◽  
Vol 8 (12) ◽  
pp. 1532 ◽  
Author(s):  
Jamie Wubben ◽  
Francisco Fabra ◽  
Carlos T. Calafate ◽  
Tomasz Krzeszowski ◽  
Johann M. Marquez-Barja ◽  
...  
Keyword(s):  
Pattern Recognition ◽  
Unmanned Aerial Vehicles ◽  
High Precision ◽  
Low Cost ◽  
Target Position ◽  
Flight Behavior ◽  
Ground Pattern ◽  
Aerial Vehicles ◽  
Exact Position ◽  
Precision Landing

Over the last few years, several researchers have been developing protocols and applications in order to autonomously land unmanned aerial vehicles (UAVs). However, most of the proposed protocols rely on expensive equipment or do not satisfy the high precision needs of some UAV applications such as package retrieval and delivery or the compact landing of UAV swarms. Therefore, in this work, a solution for high precision landing based on the use of ArUco markers is presented. In the proposed solution, a UAV equipped with a low-cost camera is able to detect ArUco markers sized 56 × 56 cm from an altitude of up to 30 m. Once the marker is detected, the UAV changes its flight behavior in order to land on the exact position where the marker is located. The proposal was evaluated and validated using both the ArduSim simulation platform and real UAV flights. The results show an average offset of only 11 cm from the target position, which vastly improves the landing accuracy compared to the traditional GPS-based landing, which typically deviates from the intended target by 1 to 3 m.

scholarly journals Strategies for Recovery and Maintain of A Biped Walking Robot Balance

2018 ◽  
Vol 7 (2.28) ◽  
pp. 123
Author(s):  
N Pop ◽  
L Vladareanu ◽  
H Wang ◽  
M Ungureanu ◽  
M Migdalovici ◽  
...  
Keyword(s):  
Sagittal Plane ◽  
Golden Section ◽  
Walking Robots ◽  
Walking Robot ◽  
Active Joint ◽  
External Disturbances ◽  
Biped Walking ◽  
Nao Robot ◽  
Biped Walking Robot

Recovering and maintaining the balance of the biped walking robots play an important role in their operation. In this article we will analyze some strategies for balancing in the sagittal plane, in the presence of external disturbances and changing the proportions between leg’s length and trunk’s length (golden section), and/or adding weights (boot type) between the ankle and the knee so that the center of gravity is as low as possible. For equilibrium recovery, we suggest that the biped walking model be equipped with actuator that provides a torque at the hip. or/and at the ankle. The strategy of balance has a goal to move the disturbed system to the desired equilibrium state. We chose to study, the model of a double linear pendulum inverted under-actuated, with one passive and one active joint. Each case study and usage of these strategies is validated by Webots and is applied for NAO robot. 

scholarly journals A Framework for Multiple Ground Target Finding and Inspection Using a Multirotor UAS

Sensors ◽  
2020 ◽  
Vol 20 (1) ◽  
pp. 272 ◽  
Author(s):  
Ajmal Hinas ◽  
Roshan Ragel ◽  
Jonathan Roberts ◽  
Felipe Gonzalez
Keyword(s):  
Target Detection ◽  
Low Cost ◽  
Target Position ◽  
Position Estimation ◽  
Quality Data ◽  
Unmanned Aerial Systems ◽  
Modular Software ◽  
Ground Target ◽  
High Level ◽  
Aerial Systems

Small unmanned aerial systems (UASs) now have advanced waypoint-based navigation capabilities, which enable them to collect surveillance, wildlife ecology and air quality data in new ways. The ability to remotely sense and find a set of targets and descend and hover close to each target for an action is desirable in many applications, including inspection, search and rescue and spot spraying in agriculture. This paper proposes a robust framework for vision-based ground target finding and action using the high-level decision-making approach of Observe, Orient, Decide and Act (OODA). The proposed framework was implemented as a modular software system using the robotic operating system (ROS). The framework can be effectively deployed in different applications where single or multiple target detection and action is needed. The accuracy and precision of camera-based target position estimation from a low-cost UAS is not adequate for the task due to errors and uncertainties in low-cost sensors, sensor drift and target detection errors. External disturbances such as wind also pose further challenges. The implemented framework was tested using two different test cases. Overall, the results show that the proposed framework is robust to localization and target detection errors and able to perform the task.

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