Robots in machining

This paper presents a smart home management system in which a community broker role is used for integrating community services, thereby reducing the workload of community management staff, providing electronic information services, and deepening the community's integration with the surrounding environment. At the home end, a home intranet was created by integrating a fixed touch panel with a home controller system and various sensors and devices to deliver, for example, energy, scenario information, and security functions. The community end comprises a community server and community personal computers, and connects to devices (e.g., video cameras and building automation devices) in other community systems and to the home networks. Furthermore, to achieve multiple inhome displays, standard interface devices can be employed to separate the logic and user interfaces. This study also determined that the message queuing telemetry transport protocol can provide optimal home control services in smart home systems, whereas hypertext transfer protocol is optimal for delivering location-based information integration services.

An integrated cloud-based smart home management system with community hierarchy

Jumping like an insect: Design and dynamic optimization of a jumping mini robot based on bio-mimetic inspiration

This article presents a review on trends in modular reconfigurable robots, comparing the evolution of the features of the most significant robots over the years and focusing on the latest designs. These features are reconfiguration, docking, degrees of freedom, locomotion, control, communications, size, and powering. For each feature, some of the most relevant designs are presented and the current trends in the design are discussed.

Current trends in reconfigurable modular robots design

Modular self-reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. The higher utilization factor and self-healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional robotics. The researchers in robotics domain identified various applications and prototyped numerous robotic models while addressing constraints such as homogeneity, reconfigurability, form factor, and power consumption. The diversified nature of various modular robotic solutions proposed for real world applications and utilization of different sensor and actuator interfacing techniques along with physical model optimizations presents implicit challenges to researchers while identifying and visualizing the merits/demerits of various approaches to a solution. This paper attempts to simplify the comparison of various hardware prototypes by providing a brief study on hardware architectures of modular robots capable of self-healing and reconfiguration along with design techniques adopted in modeling robots, interfacing technologies, and so forth over the past 25 years.

/pdf/modular-self-reconfigurable-robotic-systems-a-survey-on-1j0ho526pl.pdf

Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures

This paper presents the design and implementation of a new modular self-reconfigurable robot, called Transmote. The proposed robot has several novel features that make it suitable for search and rescue operations in complex environments. A single module can move independently by coordinating three joints. Multiple modules can connect with each other to form versatile assembled robotic structures with more powerful locomotion capabilities. The assembled structures can also transform between each other or fully disassemble into individual modules again. The modules, which communicate with each other through ZigBee compliant protocols, can build emergency communication and monitoring networks when spread to the areas without communication infrastructures. Preliminary experimental results demonstrate locomotion, mechanical docking, and transformation of several example configurations.

Design of transmote: A modular self-reconfigurable robot with versatile transformation capabilities

Human Machine Interaction (HMI) plays a very important role in intelligent service robot research. Traditional HMI methods such as keyboard and mouse cannot satisfy the high demands in some environments. To solve this problem, many researchers pay attention to vision-based gesture recognition research recently. This paper proposes a simple method to control the movement of a robot based on Kinect which provides skeleton data with low computation, acceptable performance and financial cost. The method can recognize eleven defined gestures by using the coordinates of joints, which are obtained from the skeleton model provided by the Kinect SDK. A Khepera III robot is used as a prototype control object, to verify the effectiveness of the proposed method. The experimental results show that the success rate of gesture recognition is over 96%. The proposed method is robust to work in real-time.

Wheeled robot control based on gesture recognition using the Kinect sensor

A wheel leg type mobile robot with a flexible trunk is composed of the robot trunk, a front wheel leg device and a rear wheel leg device. The robot trunk is formed by connecting two isomorphic joint modules. Each joint module is composed an outer U-shaped frame, an inner U-shaped frame, an overturning steering gear, rotating shafts, a steering gear output disc, a direct-current motor, a direct-current motor output gear, a rotating gear, a bearing and a rotating disc. The overturning steering gear is fixed in the outer U-shaped frame and drives the inner U-shaped frame to be overturned up and down, and the direct-current motor output gear is meshed with the rotating gear to drive the rotating disc. The front wheel leg device comprises a steering gear box, steering gears, steering gear output discs, universal wheels and legs. The rear wheel leg device and the front wheel leg device are basically identical and only different in leg orientations, four steering gears and the steering gear box are fixedly connected through screws, and the universal wheels and the legs are respectively fixedly connected with steering gear rotating shafts. The wheel leg type mobile robot with the flexible trunk is simple in structure, can continuously move when overturned, and has high environment adapting capability.

Wheel leg type mobile robot with flexible trunk

This paper presents a 10 cm × 5 cm × 5 cm, 52 g one-motor driven robot. One DC motor with a driving gear drives two driven gears to implement the functions of jumping and walking. Two one-way bearings mounted on the inner races of the two driven gears are used to switch between jumping and walking when the motor rotates clockwise and anticlockwise respectively. The jumping energy is obtained by compressing and releasing two torsion springs using a cylindrical cam with quick return characteristics. Two disk cams drive two forelegs with elastic joints to step forward one after another to implement the walking locomotion pattern. Two connecting rods link the forelegs and the rear legs on the left and right sides of the robot to transmit motions from forelegs to rear legs. The jumping and walking performances of the robot are tested. Experimental results show that the proposed robot can jump more than 33 cm high at a takeoff angle of 71.2° and it can walk forward at 1.43 mm/s.

A novel one-motor driven robot that jumps and walks

The invention discloses a single-chain-type modularized self-reconfiguration robot with rolling and crawling gaits. The single-chain-type modularized self-reconfiguration robot with rolling and crawling gaits is composed of at least one unit module, two pitch joints, two rotary joints and a telescopic joint, wherein each unit module comprises a front arm, a telescopic arm and a rear arm which aresequentially connected; worm-type moving is realized through controlling the mutual matching of rolling-over steering engines of the front arm and the rear arm and a telescopic motor of the telescopic arm; the rotary joints which are formed by rotary motors are arranged among the front arm as well as the rear arm and the telescopic arm; the front arm, the rear arm and the telescopic arm are round; the moving mode of a wheel-type robot can be realized through controlling the rotary motors; and the rotation in place and turning around also can be realized for differential drivers of the two rotary motors. The modularized self-reconfiguration robot disclosed by the invention has the wriggle-type moving required by the rugged topography, and efficient wheel-type moving also can be finished ona flat ground.

Single-chain-type modularized self-reconfiguration robot with rolling and crawling gaits

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