Obstacle avoidance technology of bionic quadruped robot based on multi-sensor information fusion

In order to improve the ability of a bionic quadruped robot to percept the location of obstacles in a complex and dynamic environment, the information fusion between an ultrasonic sensor and a binocular sensor was studied under the condition that the robot moves in the Walk gait on a structured road. Firstly, the distance information of obstacles from these two sensors was separately processed by the Kalman filter algorithm, which largely reduced the noise interference. After that, we obtained two groups of estimated distance values from the robot to the obstacle and a variance of the estimation value. Additionally, a fusion of the estimation values and the variances was achieved based on the STF fusion algorithm. Finally, a simulation was performed to show that the curve of a real value was tracked well by that of the estimation value, which attributes to the effectiveness of the Kalman filter algorithm. In contrast to statistics before fusion, the fusion variance of the estimation value was sharply decreased. The precision of the position information is 4. 6 cm, which meets the application requirements of the robot.

A Review of Smart Materials for the Boost of Soft Actuators,Soft Sensors,and Robotics Applications

With the advance of smart material science,robotics is evolving from rigid robots to soft robots.Compared to rigid robots,soft robots can safely interact with the environment,easily navigate in unstructured fields,and be minimized to operate in narrow spaces,owning to the new actuation and sensing technologies developed by the smart materials.In the review,different actuation and sensing technologies based on different smart materials are analyzed and summarized.According to the driving or feedback signals,actuators are categorized into electrically responsive actuators,thermally responsive actuators,magnetically responsive actuators,and photoresponsive actuators;sensors are categorized into resistive sensors,capacitive sensors,magnetic sensors,and optical waveguide sensors.After introducing the principle and several robotic prototypes of some typical materials in each category of the actuators and sensors.The advantages and disadvantages of the actuators and sensors are compared based on the categories,and their potential applications in robotics are also presented.

ROBOT'S MOTION ERROR AND ONLINE COMPENSATION BASED ON FORCE SENSOR

Robot＇s dynamic motion error and on-line compensation based on multi-axis force sensor are dealt with.It is revealed that the reasons of the error are formed and the relations of the error are delivered.A motion equation of robot＇s termination with the error is established,and then,an error matrix and an error compensation matrix of the motion equation are also defined.An on-line error＇s compensation method is put forward to decrease the displacement error,which is a degree of millimeter,shown by the result of simulation of PUMA562 robot.

Mobile robot localization algorithm based on multi-sensor information fusion

In order to effectively reduce the uncertainty error of mobile robot localization with a single sensor and improve the accuracy and robustness of robot localization and mapping,a mobile robot localization algorithm based on multi-sensor information fusion(MSIF)was proposed.In this paper,simultaneous localization and mapping(SLAM)was realized on the basis of laser Rao-Blackwellized particle filter(RBPF)-SLAM algorithm and graph-based optimization theory was used to constrain and optimize the pose estimation results of Monte Carlo localization.The feature point extraction and quadrilateral closed loop matching algorithm based on oriented FAST and rotated BRIEF(ORB)were improved aiming at the problems of generous calculation and low tracking accuracy in visual information processing by means of the three-dimensional(3D)point feature in binocular visual reconstruction environment.Factor graph model was used for the information fusion under the maximum posterior probability criterion for laser RBPF-SLAM localization and binocular visual localization.The results of simulation and experiment indicate that localization accuracy of the above-mentioned method is higher than that of traditional RBPF-SLAM algorithm and general improved algorithms,and the effectiveness and usefulness of the proposed method are verified.

Building an Intelligent Home Space for Service Robot Based on Multi-Pattern Information Model and Wireless Sensor Networks

This paper is concerned with constructing a prototype intelligent home environment for home service robot. In this environment, multi-pattern information can be represented by some intelligent artificial marks. Light-packs service robots can provide reliable and intelligent service by interacting with the environment through the wireless sensor networks. The intelligent space consists the following main components: smart devices with intelligent artificial mark;home server that connects the smart device and maintains the information through wireless sensor network;and the service robot that perform tasks in collaboration with the environment. In this paper, the multi-pattern information model is built, the construction of wireless sensor networks is presented, the smart and agilely home service is introduced. Fi- nally, the future direction of intelligent space system is discussed.

The ZigBee Based Wireless Sensor and Actor Network in Intelligent Space Oriented to Home Service Robot

In the study of intelligent space oriented to home service robot, an important technology is how to construct an communication network which has the characters of high reliability and easy building. In this paper, based on the characteristics of ZigBee protocol, ZigBee technology is used to construct a wireless sensor and actor network. Several intelligent services based on ZigBee wireless sensor and actor network are shown to certify the reliability of this communication network. ZigBee wireless sensor and actor network builds an information bridge for the components in the intelligent space, the spatially distributed devices are connected together seamlessly. With this network, robot can share the mass information in the intelligent space and improve its performance with 'light-packs', devices in intelligent space, such as lamp, curtain can be controlled autonomously.

Optical fiber based slide tactile sensor for underwater robots

In the underwater environment, many visual sensors don’t work, and many sensors which work well for robots working in space or on land can not be used underwater. Therefore, an optical fiber slide tactile sensor was designed based on the inner modulation mechanism of optical fibers. The principles and structure of the sensor are explained in detail. Its static and dynamic characteristics were analyzed theoretically and then simulated. A dynamic characteristic model was built and the simulation made using the GA based neural network. In order to improve sensor response, the recognition model of the sensor was designed based on the ‘inverse solution’ principle of neural networks, increasing the control precision and the sensitivity of the manipulator.

A Preliminary Study of the Noninvasive Remote Control System for Rat Bio-Robot

A system is described here that can noninvasively control the navigation of freely behaving rat via ultrasonic,epidermaland LED photic stimulators on the back.The system receives commands from a remote host computer to deliver specifiedelectrical stimulations to the hearing,pain and visual senses of the rat respectively.The results demonstrate that the three stimuliwork in groups for the rat navigation.We can control the rat to proceed and make right and left turns with great efficiency.Thisexperiment verified that the rat was able to reach a setting destination in the way of cable with the help of a person through theappropriate coordination of the three stimulators.The telemetry video camera mounted on the head of the rat also achieveddistant image acquisition and helped to adjust its navigation path over a distance of 300 m.In a word,the non-invasive motioncontrol navigation system is a good,stable and reliable bio-robot.

Object-tracking robot using ultrasonic sensor and servo motor

This paper proposes a method that rotation angle of servo motor and distance values of ultrasonic sensor are used for tracking an object in real-time while the robot keeps regular distance.Object detection distance widens by using ultrasonic sensors and object recognition,and movement of robot is controlled by angle of servo motor and distance of ultrasonic sensors.Not adopting the existing tracking methods:camera,laser-infrared(LRF)and many ultrasonic sensors,the proposed method proves that it is possible to track object using ultrasonic sensor and servo motor.Trajectory of robot is represented and analysed according to movement of object in limited conditions.

Zigbee Based Wireless Sensor and Actuator Network for Service Robot Intelligent Space

Wireless sensor and actuator network is the key technology of service robot intelligent space. This paper is concerned with design and implementation of a ZigBee based wireless sensor and actuator network (hereinafter referred to as ZWSAN), which has been applied in our service robot intelligent space successfully. Firstly, a simplified ZigBee stack applied to ZWSAN is proposed and the primitives of the stack are illustrated after a short overview of ZigBee protocols. Then the implementation of hardware module and software stack is introduced in detail as well as several representative devices integrated into ZWSAN, including environmental sensors for environmental perception, home devices controllers for device control, embedded speech recognition module for speech control, IMU module for abnormal behaviors detection and laser robot control for service robot navigation. An application example is described to demonstrate how the devices in ZWSAN to provide service cooperatively. Finally, we conclude this paper and discuss the future directions.

Optical Fiber Type Slide Tactile Sensor Used for Underwater Robot

Because of the special underwater environment, many sensors used well in robots working in space or on the land can not be used in the underwater. So an optical fiber type slide tactile sensor is designed by the inner modulation mechanism of the intensity type optical fiber. The principle and structure of the sensor are introduced in detail. The static and dynamic characteristics are analyzed theoretically and experimentally. The dynamic characteristic model is built and the simulation is made by using genetic algorithm based on neural network. In order to use the sensor perfectly, the recognition model of the sensor is built on the basis of the principle of “inverse solution” using neural networks. The control precision and sensitivity of the manipulator are improved.

Localized Coverage Connectivity Based on Shape and Area Using Mobile Sensor Robots in Wireless Sensor Networks

A wireless sensor network (WSN) is spatially distributing independent sensors to monitor physical and environmental characteristics such as temperature, sound, pressure and also provides different applications such as battlefield inspection and biological detection. The Constrained Motion and Sensor (CMS) Model represents the features and explain k-step reach ability testing to describe the states. The description and calculation based on CMS model does not solve the problem in mobile robots. The ADD framework based on monitoring radio measurements creates a threshold. But the methods are not effective in dynamic coverage of complex environment. In this paper, a Localized Coverage based on Shape and Area Detection (LCSAD) Framework is developed to increase the dynamic coverage using mobile robots. To facilitate the measurement in mobile robots, two algorithms are designed to identify the coverage area, (i.e.,) the area of a coverage hole or not. The two algorithms are Localized Geometric Voronoi Hexagon (LGVH) and Acquaintance Area Hexagon (AAH). LGVH senses all the shapes and it is simple to show all the boundary area nodes. AAH based algorithm simply takes directional information by locating the area of local and global convex points of coverage area. Both these algorithms are applied to WSN of random topologies. The simulation result shows that the proposed LCSAD framework attains minimal energy utilization, lesser waiting time, and also achieves higher scalability, throughput, delivery rate and 8% maximal coverage connectivity in sensor network compared to state-of-art works.

Design and Implementation of a Multi-Sensor Based Object Detecting and Removing Autonomous Robot Exploration System

Developing autonomous mobile robot system has been a hot topic in AI area. With recent advances in technology, autonomous robots are attracting more and more attention worldwide, and there are a lot of ongoing research and development activities in both industry and academia. In complex ground environment, obstacles positions are uncertain. Path finding for robots in such environment is very hot issues currently. In this paper, we present the design and implementation of a multi-sensor based object detecting and moving autonomous robot exploration system, 4RE, with the VEX robotics design system. With the goals of object detecting and removing in complex ground environment with different obstacles, a novel object detecting and removing algorithms is proposed and implemented. Experimental results indicate that our robot system with our object detecting and removing algorithm can effectively detect the obstacles on the path and remove them in complex ground environment and avoid collision with the obstacles.

Sensor Robot Planning in Incomplete Environment

Aiming at the former formalized methods of robot planning should give the environment state, can not obtain the new knowledge of the environment. In order to improve the reason ability for obtaining new knowledge of the environment state, the actions in the process of planning such as external action and sensing action are formalized. A formalized reasoning method—CPNI (Colored Petri Net for Planning in incomplete environment) based on two kinds of actions is proposed, and the reasoning rule as Fluent Calculus in incomplete environment is applied. Robot planning experiment is modeled and simulated by using the tool CPNTools and the result shows the state knowledge of the door and the action sequence to reach the goal can be generated automatically in the CPNI net system.

Investigation on mobile robot navigation based on Kinect sensor

Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers study SLAM by using laser scanners,sonar,camera,etc.This paper proposes a method that consists of a Kinect sensor along with a normal laptop to control a small mobile robot for collecting information and building a global map of an unknown environment on a remote workstation.The information(depth data)is communicated wirelessly.Gmapping(a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data)parameters have been optimized to improve the accuracy of the map generation and the laser scan.Experiment is performed on Turtlebot to verify the effectiveness of the proposed method.

A Sensing and Robot Navigation of Hybrid Sensor Network

Traditional sensor network and robot navigation are based on the map of detecting fields available in advance. The optimal algorithms are explored to solve the energy saving, shortest path problems, etc. However, in practical environment, there are many fields, whose map is difficult to get, and need to detect. This paper explores a kind of ad-hoc navigation algorithm based on the hybrid sensor network without the prior map. The system of navigation is composed of static nodes and mobile nodes. The static nodes monitor events occurring and broadcast. In the system, a kind of cluster broadcast method is adopted to determine the robot localization. The mobile nodes detect the adversary or dangerous fields and broadcast warning message. Robot gets the message and follows ad-hoc routine to arrive the events occurring place. In the whole process, energy saving has taken into account. The algorithms of nodes and robot are given in this paper. The simulate and practical results are available as well.

Homeostasis Lighting Control System Using a Sensor Agent Robot

In this study, “homeostasis”, the function by which living things keep their constancy, was emulated as a lighting control for a building space. The algorithm we developed mimics the mechanisms of the endocrine and immune systems. The endocrine system transmits information entirely, whereas the immune system transmits information with a concentration gradient. A lighting control system using the proposed algorithm was evaluated in a simulation and experiment using a sensor agent robot. In this algorithm, a robot recognizes a person’s behavior and uses it to decide his or her preference as to the illuminance. The results indicate that the algorithm can be used to realize a comfortable lighting control in several situations.

Robot Positioning and Navigation Based on Hybrid Wireless Sensor Network

Traditional sensor network and robot navigation are based on the map of detecting the fields available in advance. The optimal algorithms are developed to solve the energy saving, the shortest path problems, etc. However, in the practical enviroranent, there are many fields, whose map is difficult to get, and needs to be detected. In this paper a kind of ad-hoc navigation algorithm is explored, which is based on the hybrid sensor network without the prior map in advance. The navigation system is composed of static nodes and dynamic trades. The static nodes monitor the occurrances of the events and broadcast them. In the syston, a kind of algorithm is to locate the rdbot, which is based on duster broadcasting. The dynamic nodes detect the adversary or dangerous fields and broadcast warning messages. The robot gets the message and follows ad-hoc routine to arrive where the events occur. In the whole process, energy saving has been taken into account. The algorithms, which are based on the hybrid sensor network, are given in this paper. The simulation and practical results are also available.

A Biomimetic Approach to Robot Locomotion in Unstructured and Slippery Environments

While much attention has been given to bio-robotics in recent years, not much of this has been given to the challenging subject of locomotion in slippery conditions. This study begins to rectify this by proposing a biomimetic approach to generating the friction required to give sufficient propulsive force on a slippery substrate. We took inspiration from a successful biological solution-that of applying hair-like structures to the propulsive appendages, similar to the setae found in nereid polychaetes living in muddy habitats. We began by examining the morphology and the mean locomotion parameters of one of the most common nereids.. Nereis diversicolor. Following this study, we designed and fabricated a robotic system with appendages imitating the biological shape found in the worm. A flexible control system was developed to allow most of the locomotion parameters observed in the real worm to be applied to the robot. Experiments on three different natural substrates ranging from fine sand to gravel showed that, whereas a plate attached to the appendage generated most thrust on a small particle substrate, a bundle of artificial setae attached to the appendage generated most thrust on a large particle substrate. On all types of substrate tested, an appendage without any attachment did significantly worse than one with. This suggests that hair-like structures can be advantageous.

Cell-Based Biosensors and Bio-MEMS for Its New Applications

This paper reviews a novel cell-based biosensor and Bio-MEMS which incorporate living cells as sensing elements that convert a change in immediate environment to signals conducive for processing.It is characterized with high sensitivity,excellent selectivity and fast response and have been implemented for a number of applications ranging from pharmaceutical screening to environmental pollutant detection.This paper also introduces our recent work about Light-Addressable Potentiometric Sensors (LAPS),Field Effect Transistor (FET),Micro-Electrode Array Sensors (MEAS) and Bio-MEMS for detecting the changes of concentration of extracellular ions and the action potential of living cell under effect of drugs and environmental parameters.Finely, the paper gives some prospects of cell-based biosensors in the future.