By Munsang Kim (auth.), Sukhan Lee, Il Hong Suh, Mun Sang Kim (eds.)
th This quantity is an variation of the papers chosen from the thirteen foreign convention on complex Robotics, ICAR 2007, held in Jeju, Korea, August 22-25, 2007, with the subject: “Viable Robotics carrier to Human. ” it really is meant to convey readers the latest technical growth in robotics, particularly, towards the development of robot provider to human. to make sure its caliber, this quantity took purely 28 papers out of the 214 papers approved for booklet for ICAR 2007. the choice used to be established almost always at the technical advantage, but in addition took into account even if the topic represents a subject matter of present curiosity. For the ultimate inclusion, authors of the chosen papers have been asked for one more around of revision and growth. during this quantity, we manage the 28 contributions into 3 chapters. bankruptcy 1 covers Novel Mechanisms, bankruptcy 2 bargains with conception guided navigation and manipulation, and bankruptcy three addresses human-robot interplay and intelligence. Chapters 1, 2 and three include 7, thirteen and eight contributions, respectively. For the sake of readability, bankruptcy 2 is split extra into components with half 1 for conception Guided Navigation and half 2 for conception Guided Manipulation. bankruptcy three is additionally divided into components with half 1 for Human- robotic interplay and half 2 for Intelligence. For the ease of readers, a ch- ter precis is brought as an summary initially of every bankruptcy. The bankruptcy summaries have been ready via Dr. Munsang Kim for bankruptcy 1, Prof.
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Additional info for Recent Progress in Robotics: Viable Robotic Service to Human: An Edition of the Selected Papers from the 13th International Conference on Advanced Robotics
Example text
However, a safe mechanism, which is simpler and more lightweight than SLM, is desirable for a service robot arm. To implement these requirements, the safe joint mechanism (SJM) which possesses the same characteristics as SLM is proposed in this research. The SJM is composed of the passive mechanical elements such as linear springs and a slider-crank mechanism. The springs are used to absorb the high collision force for safety, while the slider-crank mechanism determines the safety or non-safety of the external force so that the SJM operates only in case of an emergency.
The n position vectors (10) and (11) can be arranged in the global position vectors: L L ξ = [L ξ1T T ξ d = [L ξd1 L T ξ2 L T ξd2 ... L T T ξn ] L T T ξdn ] (12) (13) The difference between the actual and the desired robot position is (14) and the formation error is defined as follows [14] in (15): ξ =L ξ d −L ξ (14) ˜ = hd − h = h(L ξ d ) − h(L ξ) h (15) ˜ h = h(L ξ) = h(L ξ d −L ξ) (16) L˜ where h is a suitable selected output variable representing the formation parameters, which captures information about the current conditions of the group of robots; hd represents the desired output variable.
STriDER begins with a stable tripod stance (Fig. 2(a)), then the hip links are oriented to push the center of gravity forward by aligning the stance legs’ pelvis links (Fig. 2(b)). As the body of the robot falls forward (Fig. 2(c)), the swing leg naturally swings in between the two stance legs (Fig. 2(d)) and catches the fall (Fig. 2(e)). As the robot takes a step, the body needs to rotate 180 degree to prevent the legs from tangling up. Once all three legs are in contact with the ground, the robot regains its stability and the posture of the robot is reset in preparation for the next step (Fig.