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Gaining high mobility on versatile terrains is a crucial target for designing a mobile robot toward tasks such as search and rescue, scientific exploration, and environment monitoring. Inspired by dextrous lim...
This paper proposes and implements an open framework of active auditory learning for a home service robot to serve the elderly living alone at home. The framework was developed to realize the various auditory ...
A primary requirement in distributed robotic software systems is the dissemination of data to all interested collaborative entities in a timely and scalable manner. However, providing such a service in a highl...
Piezoelectric actuators (PEAs) have been widely used in micro- and nanopositioning applications due to their fine resolution, rapid responses, and large actuating forces. However, a major deficiency of PEAs i...
Part 1 completed the studies of five long-shafted, cellulose, frictional, hooked probabilistic fasteners. Part 2 identified three substructures prevalent in the natural world for probabilistic fasteners and de...
Two-dimensional velocity fields around a freely swimming freshwater black shark fish in longitudinal (XZ) plane and transverse (YZ) plane are measured using digital particle image velocimetry (DPIV). By transf...
Continuum robot, as known as snake-like robot, usually does not include rigid links and has the ability to reach into a confined space by shaping itself into smooth curves. This paper presents the design of a...
For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-R...
Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior capabilities for access through narrow openings and within...
To create a model of a biomimetic product from the A. minus hook after a biomimetic methodology has been applied, this paper describes an investigation into the most appropriate method of shape acquisition for th...
This manuscript is the first of two parts of a work investigating optimal configurations of legged climbing robots while loitering on vertical surfaces. In this part 1, a mathematical model of a climbing robot...
This manuscript is the second of two parts of a work investigating optimal configurations of legged climbing robots while loitering on vertical surfaces. In this Part 2, a structural analysis based on the fini...
The hook as a shape occurs very early on the evolutionary scale. Cellulose appears as a biological building block in the Cambrian age from fossil records, and hooks have been found in chitinous organisms as ma...
This study aims to realize rolling locomotion by a multi-legged robot inspired by “wheel spider” in nature. A novel robot mechanism and a strategy for rolling locomotion is proposed in this paper based on moti...
In this paper, a new remote center motion (RCM) mechanism called triangle is proposed; this mechanism is simple and with high stiffness. A complete kinematic analysis and optimization algorithm implying AHP wh...
Products with freeform surface are widely applied in industries, and the surface quality plays an important role in order to fulfill the targeted functions. As polishing path of small polishing tool affects th...
In traditional laparoscopic hysterectomy, an assistant is typically assigned to hold a uterus manipulator to facilitate the surgical procedures. The responsibility of the assistant is to position the uterus ac...
This paper researches the design and control method of a microrobot in a microfluidic system by electromagnetic field. The microrobot can move along the microchannel to a required position, and by changing the...
A visual-based approach for identifying living cells and performing the automated patch clamp recording was reported. Based on the image processing and blob detection algorithm, the vision-based method was dev...
This paper presents a reconfigurable biomimetic robot which is able to crawl and roll. The robot mimics the morphology of a huntsman spider that can transform between crawling and rolling by reconfiguring its ...
Aiming to develop an noninvasive BMI control system with EEG (electroencephalogram) signals to control external devices such as prostheses and robots for rehabilitation and/or power support, four different tas...
As a carrier of different sensors, moles can penetrate into the regolith automatically and keep investigating the subsurface environment continuously. In this section, features of several moles with different ...
Single cell analysis is an essential research approach to reveal the secret of life. At such a small scale, it puts forward higher demand on the accuracy of the cell manipulation system. This paper reviews the...
This paper has focused on the formulation of the biological fish propulsion mechanism given by Sir J. Lighthill mathematical slender body theory for a bio-inspired robotic fish. A 2-joint, 3-link multibody veh...
The research work aims at developing a real-time non-invasive metabolism and blood circulation surveillance system for monitoring human’s health condition by sensing the various bio-signals on the human body. ...
Decision making and planning for which the state information is only partially available is a problem faced by all forms of intelligent entities they being either virtual, synthetic or biological. The standard...
This paper describes a novel cable-driven ankle-foot mechanism with two controllable degrees of freedom (DOF) in dorsiflexion-plantarflexion (DP) and inversion-eversion (IE). The presented mechanism is a proof...
Current state-of-the-art quantitative assessments of abnormal neuro-mechanics (e.g., spasticity, rigidity, dystonia) require sophisticated measurement systems that, together with the lengthiness of the data ac...
This paper presents an IF1F2 color space for describing colors in microscopic images. Unlike the classical color spaces that treat the R, G, and B (RGB) components of a pixel’s color as independent elements, the ...
Opto-thermocapillary flow-addressed bubble (OFB) microrobots are a potential tool for the efficient transportation of micro-objects. This microrobot system uses light patterns to generate thermal gradients wit...
Transferring skills from a biological organism to a hyper-redundant system is a challenging task, especially when the two agents have very different structure/embodiment and evolve in different environments. I...
In the last decade, it was demonstrated that tubular micromotors are of potential interest for environmental, sensing, and medical applications. Even though catalytic micromotors rely on toxic fuel for their p...
To design a control strategy for iLeg, an exoskeleton robot developed for lower limb rehabilitation aiming at investigating the feasibility of integrating functional electrical stimulation (FES) with robot-bas...
This paper studies distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. We investigate control strategies which use just ...
This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the ...
A number of works for 3-D shape measurement based on structured light have been well-studied in the last decades. A common way to model the system is to use the binocular stereovision-like model. In this model...
