Rolling locomotion of a deformable soft robot with built-in power source

In this paper we present a neural network architecture for learning of robotic grasping tasks. The neural network model allows acquisition of different neural representations of the grasping task through a successive learning over two stages in a strategy that uses already learned representations for the acquisition of the subsequent knowledge. Systematic computer simulations have been carried out in order to test learning and generalization capabilities of the system. The proposed model can be used as a high level controller for a robotic dexterous hand during learning and execution of grasping tasks. Adaptive stair-climbing behaviour with a hybrid legged-wheeled robot M. Eich, F. Grimminger and F. Kirchner Robotics Group German Research Center for Artificial Intelligence Bremen, Germany markus.eich@dfki.de Abstract Inspired by quadruped animals we developed the hybrid legged-wheeled robot ASGUARD. We showed already that this robot is able to cope with a variety of stairs, very rough terrain, and is able to move very fast on fat ground. We will describe a versatile adaptive control approach for such a system which is based only on proprioceptive data. An additional inclination and roll feedback is used to make the same controller more robust in terms of stair climbing capabilities. At the same time, high velocities can be reached on fat ground without changing the configuration of the system. By using twenty compliant legs, which are mounted around four individually rotating hip-shafts, we abstract from the biological system. For the locomotion control we use an abstract model of bio-inspired Central Pattern Generators (CPG), which can be found in biological systems from humans to insects. In contrast to existing work, ASGUARD uses the sensed feedback of the environment to adapt the walking pattern in real time.Inspired by quadruped animals we developed the hybrid legged-wheeled robot ASGUARD. We showed already that this robot is able to cope with a variety of stairs, very rough terrain, and is able to move very fast on fat ground. We will describe a versatile adaptive control approach for such a system which is based only on proprioceptive data. An additional inclination and roll feedback is used to make the same controller more robust in terms of stair climbing capabilities. At the same time, high velocities can be reached on fat ground without changing the configuration of the system. By using twenty compliant legs, which are mounted around four individually rotating hip-shafts, we abstract from the biological system. For the locomotion control we use an abstract model of bio-inspired Central Pattern Generators (CPG), which can be found in biological systems from humans to insects. In contrast to existing work, ASGUARD uses the sensed feedback of the environment to adapt the walking pattern in real time. On the mechanized inspection of glass fiber plastic pipes and pipe joints P. Chatzakos, A. Lagonikas, D. Psarros, V. Spais, K. Hrissagis and A. Khalid Zenon SA, 5 Kanari str. , Glyka Nera, Athens, Greece. TWI Ltd, Granta Park, Great Abington, Cambridge, United Kingdom. pchatzak@zenon.gr Abstract In this paper the development of a robotic multi-axis crawler to accurately deploy inspection equipment on glass fiber plastic pipe and pipe joints is presented. The developed crawler is able to carry a range of sensors to automatically inspect complex geometry components, making traditional scanners redundant. First results show that the dexterity of the mechanized system is such that component coverage and positional accuracy are maximized using only a minimum number of degrees of freedom.In this paper the development of a robotic multi-axis crawler to accurately deploy inspection equipment on glass fiber plastic pipe and pipe joints is presented. The developed crawler is able to carry a range of sensors to automatically inspect complex geometry components, making traditional scanners redundant. First results show that the dexterity of the mechanized system is such that component coverage and positional accuracy are maximized using only a minimum number of degrees of freedom. Development and gait generation of the biped robot stepper-senior Y. Liu, M. Zhao, J. Zhang, L. Li, X. Su and H. Dong Department of Automation Tsinghua University Beijing, China liuyu@mails.tsinghua. edu.cn Abstract This paper presents the development and gait generation of biped robot Stepper-Senior. Parallel double crank mechanism and elastic materials are introduced in the 10 DOF lower limbs to mechanically restrict the sole to contact flat with the ground for stable fast walking. Virtual Slope Walking is used for biped gait generation, which is a simple method with strongly intuitive parameters for real-time utilization. In walking experiment, Stepper-Senior reaches the speed of 0.65 m/s and accomplishes omnidirectional walking.This paper presents the development and gait generation of biped robot Stepper-Senior. Parallel double crank mechanism and elastic materials are introduced in the 10 DOF lower limbs to mechanically restrict the sole to contact flat with the ground for stable fast walking. Virtual Slope Walking is used for biped gait generation, which is a simple method with strongly intuitive parameters for real-time utilization. In walking experiment, Stepper-Senior reaches the speed of 0.65 m/s and accomplishes omnidirectional walking. Development of an underground explorer robot based on an earthworm’s peristaltic crawling H. Omori, T. Nakamura and T. Yada Department of Precision Mechanics, Faculty of Science and Engineering Chuo University Tokyo, Japan h_omori@bio.mech. chuo-u.ac.jp Abstract Although shield tunnel construction and tunnel boring machines have developed a great deal, the machines are still large in size and consume large amounts of energy. A robot small enough to investigate under the ground by itself would extend the range of underground investigation both under the Earth‟s surface and, in the future, on the moon. This study focuses on the peristaltic crawling of an earthworm as a locomotion mechanism for an underground explorer robot. In peristaltic crawling, extension and contraction waves are propagated in the anteroposterior direction by varying the thickness and length ofAlthough shield tunnel construction and tunnel boring machines have developed a great deal, the machines are still large in size and consume large amounts of energy. A robot small enough to investigate under the ground by itself would extend the range of underground investigation both under the Earth‟s surface and, in the future, on the moon. This study focuses on the peristaltic crawling of an earthworm as a locomotion mechanism for an underground explorer robot. In peristaltic crawling, extension and contraction waves are propagated in the anteroposterior direction by varying the thickness and length of the earthworm‟s segments, and a large surface area is brought into contact during motion. Furthermore, it requires no more space than that of an excavation part on the anterior of the robot. The proposed robot consists of several parallel link mechanisms. We confirmed that the robot could move on a plane surface, also climb a tube, and in perforated dirt. Good performance was observed in the experiments. Rolling locomotion of a deformable soft robot with built-in power source Y. Matsumoto, H. Nakanishi and S. Hirai Department of Robotics Ritsumeikan University Shiga, Japan rr008033@se.ritsumei. ac.jp Abstract Locomotion over rough terrain has been achieved mainly by rigid body systems, including crawlers and leg mechanisms. We have proposed an alternative method, which uses deformation of a robot body, and developed a prototype of this deformable robot. But, electric power was externally supplied, such that power supply cables hindered the locomotion of the robot. We describe here the rolling locomotion of a deformable soft robot with an internally supplied power source. We applied dynamic simulation with particle-based modelling to analyze the rolling motion of this robot and found that increased weight had little influence on the kinematics performance of this robot on flat surfaces. Increased weight, however, was effective in providing greater stability on slopes.Locomotion over rough terrain has been achieved mainly by rigid body systems, including crawlers and leg mechanisms. We have proposed an alternative method, which uses deformation of a robot body, and developed a prototype of this deformable robot. But, electric power was externally supplied, such that power supply cables hindered the locomotion of the robot. We describe here the rolling locomotion of a deformable soft robot with an internally supplied power source. We applied dynamic simulation with particle-based modelling to analyze the rolling motion of this robot and found that increased weight had little influence on the kinematics performance of this robot on flat surfaces. Increased weight, however, was effective in providing greater stability on slopes. GRACE – Generic robotic architecture to create emotions T. H. H. Dang, S. L. Zarshenas and D. Duhaut IFI Francophone Institute for Informatics South Brittany University Vannes, France dthha@ifi.edu. vn Abstract In this paper, we present a model of emotions that we proposed in EmotiRob project. We make a comparison of recent models of emotions and show that our model is generic in basing on the theories of emotions of Ortony et al., Lazarus, Scherer and then the personality theory of Meyers-Brigg and Meyers.In this paper, we present a model of emotions that we proposed in EmotiRob project. We make a comparison of recent models of emotions and show that our model is generic in basing on the theories of emotions of Ortony et al., Lazarus, Scherer and then the personality theory of Meyers-Brigg and Meyers. Motion design for an insectomorphic robot on unstable obstacles Y. F. Golubev and V. V. Korianov Mech. -Math. dept., Lomono