Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739776
Shi-long Liu, Zhihong Jiang, Hui Li, Qiang Huang
The simulation of space microgravity environment is indispensable during the development of space robot since its performances should be examined and enhanced before sent into space. However, the existing methods, such as air flotation method, hanging wire method and buoyancy method, etc., are very expensive and complex. A low-cost microgravity simulating system is proposed in this paper. In this system, a horizontal adjusting mechanism is proposed to keep the robot moving in a horizontal plane; a gravity compensation mechanism is proposed to compensate the force and torque of gravity during the movement; furthermore, several flexible chains and climbing rods are designed to simulate astronauts' climbing outside space station freely, but the robot is very likely to vibrate during the movement, so a new hybrid force/position controller based on the joint servo-drive characteristics model is proposed to diminish this vibration. Experiment has been done on this system with a humanoid space robot and experimental results show that this system is very suitable for motion control study of space robot in microgravity condition and the proposed hybrid force/position controller is easy and valid.
{"title":"A low-cost microgravity simulating system for motion control study of space robot","authors":"Shi-long Liu, Zhihong Jiang, Hui Li, Qiang Huang","doi":"10.1109/ROBIO.2013.6739776","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739776","url":null,"abstract":"The simulation of space microgravity environment is indispensable during the development of space robot since its performances should be examined and enhanced before sent into space. However, the existing methods, such as air flotation method, hanging wire method and buoyancy method, etc., are very expensive and complex. A low-cost microgravity simulating system is proposed in this paper. In this system, a horizontal adjusting mechanism is proposed to keep the robot moving in a horizontal plane; a gravity compensation mechanism is proposed to compensate the force and torque of gravity during the movement; furthermore, several flexible chains and climbing rods are designed to simulate astronauts' climbing outside space station freely, but the robot is very likely to vibrate during the movement, so a new hybrid force/position controller based on the joint servo-drive characteristics model is proposed to diminish this vibration. Experiment has been done on this system with a humanoid space robot and experimental results show that this system is very suitable for motion control study of space robot in microgravity condition and the proposed hybrid force/position controller is easy and valid.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133100789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739677
Lisha Chen, Can Tang, Xintao Li, Sheng Cheng, Jianwei Zhang, D. Caldwell
This paper presents the development and evaluation of a pneumatically-actuated transferring robotic system that uses visual inspection technology. The objective of this research is to implement the manufacturing automation in a customized industrial forging process. The robot has 5-DOF with a 2-fingered gripper placed on the gantry mechanical structure stage. Furthermore, the robotic system consists of two digital cameras for the visual inspection, which are utilized to test the temperature and the posture of the forging ingot. The required grasping force of the gripper and the accurate position regulation are obtained by pneumatic actuators. The control of the pneumatic actuators is based upon the use of programmable logic controllers (PLC). Subsequently, the temperature and perpendicularity detection capabilities of the visual inspection system are analyzed. Finally, experiments have been carried out to evaluate the performance of the presented robotic system.
{"title":"A pneumatically-actuated transferring robot for industrial forge manufacturing using visual inspection technology","authors":"Lisha Chen, Can Tang, Xintao Li, Sheng Cheng, Jianwei Zhang, D. Caldwell","doi":"10.1109/ROBIO.2013.6739677","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739677","url":null,"abstract":"This paper presents the development and evaluation of a pneumatically-actuated transferring robotic system that uses visual inspection technology. The objective of this research is to implement the manufacturing automation in a customized industrial forging process. The robot has 5-DOF with a 2-fingered gripper placed on the gantry mechanical structure stage. Furthermore, the robotic system consists of two digital cameras for the visual inspection, which are utilized to test the temperature and the posture of the forging ingot. The required grasping force of the gripper and the accurate position regulation are obtained by pneumatic actuators. The control of the pneumatic actuators is based upon the use of programmable logic controllers (PLC). Subsequently, the temperature and perpendicularity detection capabilities of the visual inspection system are analyzed. Finally, experiments have been carried out to evaluate the performance of the presented robotic system.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115729344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739753
Zhijiang Liu, Siyu Chen, Xinhao Luo
Real-time response to tipping is essential for a hexapod robot to avoid damaging itself and load when it walks on rough terrains. In this paper, a criterion is proposed combining ZMP and FASM for the judgment of the stability of walking hexapod robots, and an analytical method is applied to determine the reachable workspace of its adjusted-leg and to choose footholds to restore stability based on the principle of maximizing force arm. Taking the case of a hexapod robot's sideline tipping on a slope terrain as an example, the simulation results verify the effectiveness of the proposed method.
{"title":"Judgment and adjustment of tipping instability for hexapod robots","authors":"Zhijiang Liu, Siyu Chen, Xinhao Luo","doi":"10.1109/ROBIO.2013.6739753","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739753","url":null,"abstract":"Real-time response to tipping is essential for a hexapod robot to avoid damaging itself and load when it walks on rough terrains. In this paper, a criterion is proposed combining ZMP and FASM for the judgment of the stability of walking hexapod robots, and an analytical method is applied to determine the reachable workspace of its adjusted-leg and to choose footholds to restore stability based on the principle of maximizing force arm. Taking the case of a hexapod robot's sideline tipping on a slope terrain as an example, the simulation results verify the effectiveness of the proposed method.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114185776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739453
Hong Liu, K. Rao, Fang Xiao
The Rapidly-exploring Random Tree (RRT) has been widely used to solve path planning problems and well suited to lots of problem domains for its probabilistically complete. However, it is not so rapid in changing environments, troubled with moving obstacles and difficult regions. In this paper, a variant of RRT is proposed which is called obstacle guided RRT (OG-RRT), aiming to plan a path in changing environments efficiently. By preserving a group of invalid configurations blocked by obstacles, an entropy value is introduced to label every state in the tree with region classification information. Then a differentiation strategy is adopted to the framework for extending. Finally, with recording the change between invalid and valid nodes, a fuzzy estimation for obstacles' movements and an opportunistic strategy for reusing information from previous queries will be used to replan a solution fast. In plentiful experiments, OG-RRT is very effective in changing environment.
{"title":"Obstacle guided RRT path planner with region classification for changing environments","authors":"Hong Liu, K. Rao, Fang Xiao","doi":"10.1109/ROBIO.2013.6739453","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739453","url":null,"abstract":"The Rapidly-exploring Random Tree (RRT) has been widely used to solve path planning problems and well suited to lots of problem domains for its probabilistically complete. However, it is not so rapid in changing environments, troubled with moving obstacles and difficult regions. In this paper, a variant of RRT is proposed which is called obstacle guided RRT (OG-RRT), aiming to plan a path in changing environments efficiently. By preserving a group of invalid configurations blocked by obstacles, an entropy value is introduced to label every state in the tree with region classification information. Then a differentiation strategy is adopted to the framework for extending. Finally, with recording the change between invalid and valid nodes, a fuzzy estimation for obstacles' movements and an opportunistic strategy for reusing information from previous queries will be used to replan a solution fast. In plentiful experiments, OG-RRT is very effective in changing environment.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114511525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739505
Narong Aphiratsakun, K. Techakittiroj
This paper discusses about the Autonomous AU Bicycle: Self-Balancing and tracking control (AUSB2). The system will be explained in two parts; balancing and tracking control. In the balancing part, the gyroscope and encoder are used to sense the balance position of the bicycle, the position of the flywheel. Compass, GPS and encoder are used for the tracking control. The main objective of this paper is to demonstrate the implementation methodology of the bicycle robot and the balancing and tracking control methods.
{"title":"Autonomous AU Bicycle: Self-Balancing and tracking control (AUSB2)","authors":"Narong Aphiratsakun, K. Techakittiroj","doi":"10.1109/ROBIO.2013.6739505","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739505","url":null,"abstract":"This paper discusses about the Autonomous AU Bicycle: Self-Balancing and tracking control (AUSB2). The system will be explained in two parts; balancing and tracking control. In the balancing part, the gyroscope and encoder are used to sense the balance position of the bicycle, the position of the flywheel. Compass, GPS and encoder are used for the tracking control. The main objective of this paper is to demonstrate the implementation methodology of the bicycle robot and the balancing and tracking control methods.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117059515","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739526
Akihiko Yamaguchi, J. Takamatsu, T. Ogasawara
Though a reinforcement learning method is considered as a promising method for learning a robot's behavior from reward signals and adapting it for unknown environment, a standard reinforcement learning method is for a single environment. In this paper, to make a robot working in wider environments, we develop a reinforcement learning method for (1) estimating the current environment, (2) choosing a suitable policy for a known environment, and (3) making learning efficient when learning in a new environment by using transfer learning. To achieve them, we extend the learning strategy (LS) fusion method [1]. LS fusion is a method to learn multiple policies for a single task by applying multiple learning strategies (LSs) step by step. The key idea of environment estimation is using reward statistics of learned policies. For efficient learning, we design a learning strategy to transfer a policy learned in a different environment to one for the current environment. To verify the proposed method, we conducted some experiments where a small size humanoid robot learned a crawling task in several kinds of environments.
{"title":"Learning strategy fusion for acquiring crawling behavior in multiple environments","authors":"Akihiko Yamaguchi, J. Takamatsu, T. Ogasawara","doi":"10.1109/ROBIO.2013.6739526","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739526","url":null,"abstract":"Though a reinforcement learning method is considered as a promising method for learning a robot's behavior from reward signals and adapting it for unknown environment, a standard reinforcement learning method is for a single environment. In this paper, to make a robot working in wider environments, we develop a reinforcement learning method for (1) estimating the current environment, (2) choosing a suitable policy for a known environment, and (3) making learning efficient when learning in a new environment by using transfer learning. To achieve them, we extend the learning strategy (LS) fusion method [1]. LS fusion is a method to learn multiple policies for a single task by applying multiple learning strategies (LSs) step by step. The key idea of environment estimation is using reward statistics of learned policies. For efficient learning, we design a learning strategy to transfer a policy learned in a different environment to one for the current environment. To verify the proposed method, we conducted some experiments where a small size humanoid robot learned a crawling task in several kinds of environments.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124696844","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739683
Xiudong Xu, Panfeng Huang, Jun Ma
Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. This paper introduces the task of TSR, and it proposes coordinated position and attitude control method in order to save thruster fuel of operational robot for approaching the target. First, the linear quadratic regulator (LQR) controller calculates the traditional position control force of the operational robot. Then the optimization and distribution model of position control force is established, and the LQR control force is distributed to space tether and thrusters. Simultaneously, the relative attitude of the operational robot is stabilized using corresponding coordinated attitude stability strategy through the reaction wheels. Numerical results are presented, demonstrating the validity of saving thruster fuel and well performance for approaching the target.
{"title":"Coordinated position and attitude control method of Tethered Space Robot","authors":"Xiudong Xu, Panfeng Huang, Jun Ma","doi":"10.1109/ROBIO.2013.6739683","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739683","url":null,"abstract":"Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. This paper introduces the task of TSR, and it proposes coordinated position and attitude control method in order to save thruster fuel of operational robot for approaching the target. First, the linear quadratic regulator (LQR) controller calculates the traditional position control force of the operational robot. Then the optimization and distribution model of position control force is established, and the LQR control force is distributed to space tether and thrusters. Simultaneously, the relative attitude of the operational robot is stabilized using corresponding coordinated attitude stability strategy through the reaction wheels. Numerical results are presented, demonstrating the validity of saving thruster fuel and well performance for approaching the target.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123605489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Different from the traditional using method of one-input-one-output in planetary gear reducer, a concept of one-input-two-output is proposed to drive an underactuated finger. A finger consisting of three degrees of freedom, is driven by two actuators. MP joint is driven by one actuator while PIP and DIP joints are driven by another actuator with power distribution by a planetary gear reducer. When grasping the object, the finger may adapt to its shape automatically through self-motion tuning of the differentially underactuated mechanism. Additionally, when collision between the finger and external objects occurs in the gripping process, the mechanism can absorb the impact energy so as to protect the actuator. Kinematics and statics are analyzed to figure out the related motion relationship among each joint for the underactuated finger. Experiments are conducted to verify the desired characteristics of the finger and the related analysis.
{"title":"A planetary gear based underactuated self-adaptive robotic finger","authors":"Q. Quan, Qingchuan Wang, Z. Deng, Shengyuan Jiang, X. Hou, Dewei Tang","doi":"10.1109/ROBIO.2013.6739693","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739693","url":null,"abstract":"Different from the traditional using method of one-input-one-output in planetary gear reducer, a concept of one-input-two-output is proposed to drive an underactuated finger. A finger consisting of three degrees of freedom, is driven by two actuators. MP joint is driven by one actuator while PIP and DIP joints are driven by another actuator with power distribution by a planetary gear reducer. When grasping the object, the finger may adapt to its shape automatically through self-motion tuning of the differentially underactuated mechanism. Additionally, when collision between the finger and external objects occurs in the gripping process, the mechanism can absorb the impact energy so as to protect the actuator. Kinematics and statics are analyzed to figure out the related motion relationship among each joint for the underactuated finger. Experiments are conducted to verify the desired characteristics of the finger and the related analysis.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121393880","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739597
Chunfeng Yue, Shuxiang Guo, Maoxun Li, Yaxin Li
This paper introduces the passive and active attitude stabilization control for a spherical underwater robot (SUR-II). Due to the special structure of the robot, we involve passive attitude stabilization method both in pitch and roll directions. We adjust the distance between the center of buoyancy and the center of gravity to generate restoring moment. The restoring moment is used to realize passive attitude stabilization in pitch and roll directions. But for the yaw direction, because the robot is centrosymmetric and the water resistance is small and there is no restoring moment, active attitude stabilization control is necessary. For the active attitude stabilization, we employ Rotation Vector algorithm to instead Euler angle algorithm. The Euler angle algorithm decomposed the rotation motion into 3 orderly rotational motions in pitch, roll, yaw direction respectively. But the Rotation Vector algorithm can describe the rotation motion of the spherical underwater robot just in one time. It is very convenient to control the rotational motion. Finally, we carry out a stabilization experiment to verify the active attitude stability in yaw direction. The experimental results show that the robot can realize attitude stabilizaiton in a short time.
{"title":"Passive and active attitude stabilization method for the spherical underwater robot (SUR-II)","authors":"Chunfeng Yue, Shuxiang Guo, Maoxun Li, Yaxin Li","doi":"10.1109/ROBIO.2013.6739597","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739597","url":null,"abstract":"This paper introduces the passive and active attitude stabilization control for a spherical underwater robot (SUR-II). Due to the special structure of the robot, we involve passive attitude stabilization method both in pitch and roll directions. We adjust the distance between the center of buoyancy and the center of gravity to generate restoring moment. The restoring moment is used to realize passive attitude stabilization in pitch and roll directions. But for the yaw direction, because the robot is centrosymmetric and the water resistance is small and there is no restoring moment, active attitude stabilization control is necessary. For the active attitude stabilization, we employ Rotation Vector algorithm to instead Euler angle algorithm. The Euler angle algorithm decomposed the rotation motion into 3 orderly rotational motions in pitch, roll, yaw direction respectively. But the Rotation Vector algorithm can describe the rotation motion of the spherical underwater robot just in one time. It is very convenient to control the rotational motion. Finally, we carry out a stabilization experiment to verify the active attitude stability in yaw direction. The experimental results show that the robot can realize attitude stabilizaiton in a short time.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124174756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739471
N. Nor, Shugen Ma
This paper addresses a problem of locomotion control of a snake-like robot. The discontinuity of the input signal during transition of locomotion is not desirable which may cause a large sliding and slippage. To overcome this problem, a method that produce a smooth transition of the body shape of a snake-like robot is introduced by adopting CPG-based control. Body shape transition is important for a snake-like robot locomotion to adapt to different space widths especially for rescuing task in a hazardous environment. By changing the phase difference of the CPG outputs instantly, the phase transition will result in a sharp point or discontinuity of the input signal which will lead to a jerky movement of the snake-like robot. In this paper, we propose a novel way of producing smooth body shape transition of a snake-like robot i.e., by introducing an activation function. This method is simple and easy to be implemented for robot's control. Simulation results and torque analysis confirm the effectiveness of the proposed method.
{"title":"Body shape control of a snake-like robot based on phase oscillator network","authors":"N. Nor, Shugen Ma","doi":"10.1109/ROBIO.2013.6739471","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739471","url":null,"abstract":"This paper addresses a problem of locomotion control of a snake-like robot. The discontinuity of the input signal during transition of locomotion is not desirable which may cause a large sliding and slippage. To overcome this problem, a method that produce a smooth transition of the body shape of a snake-like robot is introduced by adopting CPG-based control. Body shape transition is important for a snake-like robot locomotion to adapt to different space widths especially for rescuing task in a hazardous environment. By changing the phase difference of the CPG outputs instantly, the phase transition will result in a sharp point or discontinuity of the input signal which will lead to a jerky movement of the snake-like robot. In this paper, we propose a novel way of producing smooth body shape transition of a snake-like robot i.e., by introducing an activation function. This method is simple and easy to be implemented for robot's control. Simulation results and torque analysis confirm the effectiveness of the proposed method.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125198917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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