After carrying out the manufacture of prototypes and desin from the robots that carry goods, it needs to be developed into the actual robot making so that dpat can be implemented with a real goods ...lifting robot so that it can be useful for the survival of the academic activities. The academic activity here is to lift goods in this case is a book or file from the third floor corner to the academic bureau room. With various tests have been carried out so that later the work of this tool is expected to operate properly in accordance with the wishes of the researcher. With the right analysis and calculation, this tool can lift items with a maximum weight of 5 kg and all items or items that are lifted can be placed in the designated place at the top of the robot. Control of the smartphone can move the robot so that it reaches the destination. The voice command is inputted to the smartpone that has been connected to the Arduino Uno system so that it can command the robot with a forward, backward movement, turn left and turn right. The control system is centered on the Arduino Uno microcontroller that has been loaded with a program to run this tool or robot. Research has succeeded in making robots designed according to the work and the desired system to help work in the lifting of goods.
Abstract
The problem of the autonomous task solution by the robotic system is considered in this paper. An approach based on the situational assessment and analysis is proposed for this. This ...approach makes it possible to plan the robot actions from the point of minimizing the situations informational uncertainty. The hirachical semantic descriptions of the target task, environment and the robot’s state were proposed. Within this approach the situational uncertainty in terms of informational entropy estimates. Each action, including planning, should be aimed to reduce entropy. An example of the proposed approach implementation for the object dellivery task was demonstrated. The efficiency ac the approach was shawn.
Humans possess manual dexterity, motor skills, and other physical abilities that rely on feedback provided by the somatosensory system. Herein, a method is reported for creating soft somatosensitive ...actuators (SSAs) via embedded 3D printing, which are innervated with multiple conductive features that simultaneously enable haptic, proprioceptive, and thermoceptive sensing. This novel manufacturing approach enables the seamless integration of multiple ionically conductive and fluidic features within elastomeric matrices to produce SSAs with the desired bioinspired sensing and actuation capabilities. Each printed sensor is composed of an ionically conductive gel that exhibits both long‐term stability and hysteresis‐free performance. As an exemplar, multiple SSAs are combined into a soft robotic gripper that provides proprioceptive and haptic feedback via embedded curvature, inflation, and contact sensors, including deep and fine touch contact sensors. The multimaterial manufacturing platform enables complex sensing motifs to be easily integrated into soft actuating systems, which is a necessary step toward closed‐loop feedback control of soft robots, machines, and haptic devices.
Soft somatosensitive actuators are created by embedded 3D printing of ionically conductive and fluidic features within molded elastomeric matrices. Specifically, these actuators are innervated with sensors that bestow soft robotic grippers with proprioceptive, haptic, and thermoceptive sensing capabilities akin to our own bodies'. This approach represents a foundational advance with potential applications in soft robotic, wearable, and haptic devices.
In this note, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of ...task-space trajectory tracking irrespective of the uncertain kinematics and dynamics. The proposed controllers have the desirable separation property, and we also show that the first adaptive controller with appropriate modifications can yield the improved performance, without the expense of the conservative gain choice. The performance of the proposed controllers is shown by numerical simulations.
The 20th century's robotic systems have been made from stiff materials, and much of the developments have pursued ever more accurate and dynamic robots, which thrive in industrial automation, and ...will probably continue to do so for decades to come. However, the 21st century's robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfill the role of robotic link and actuator, where prime focus is on design and fabrication of robotic hardware instead of software control. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics, and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators. This article reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies, and on the other hand by a market pull from applications. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication, and applications.
The 21st century's robotic legacy may very well become that of soft robots, which show remarkable features superior to those of conventional robots in tasks requiring delicate manipulation and a high degree of maneuverability. This review discusses a particular type of soft actuators—elastic inflatable actuators—which are driven by pressurized fluids and allow for straightforward integration in soft robotics.
This paper presents a hybrid controller to stabilize a class of closed orbits for mechanical systems with degree of underactuation one. The controller has a hierarchical structure whereby at the low ...level, a smooth feedback enforces a virtual holonomic constraint in a family, while at the high level a supervisor selects from within the family the constraint to be enforced. To illustrate these ideas, the controller is first used to stabilize oscillations for the acrobot in a manner reminiscent of a child pumping energy on a swing, and then to induce an oscillatory motion in a brachiating robot so as to make its arms bridge the gap between two consecutive handholds.
Robotic urban search and rescue (USAR) is a challenging yet promising research area which has significant application potentials as has been seen during the rescue and recovery operations of recent ...disaster events. To date, the majority of rescue robots used in the field are teleoperated. In order to minimize a robot operator’s workload in time-critical disaster scenes, recent efforts have been made to equip these robots with some level of autonomy. This paper provides a detailed overview of developments in the exciting and challenging area of robotic control for USAR environments. In particular, we discuss the efforts that have been made in the literature towards: 1) developing low-level controllers for rescue robot autonomy in traversing uneven terrain and stairs, and perception-based simultaneous localization and mapping (SLAM) algorithms for developing 3D maps of USAR scenes, 2) task sharing of multiple tasks between operator and robot via semi-autonomous control, and 3) high-level control schemes that have been designed for multi-robot rescue teams.
Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the ...current limitations in simulation, design and control of soft robots often involve a painstaking trial. With the ultimate goal of a computational framework for soft robotic engineering, here we introduce a numerical simulation tool for limbed soft robots that draws inspiration from discrete differential geometry based simulation of slender structures. The simulation incorporates an implicit treatment of the elasticity of the limbs, inelastic collision between a soft body and rigid surface, and unilateral contact and Coulombic friction with an uneven surface. The computational efficiency of the numerical method enables it to run faster than real-time on a desktop processor. Our experiments and simulations show quantitative agreement and indicate the potential role of predictive simulations for soft robot design.
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