This work focuses on enhancing step descending ability of the modular robot proposed in [16]. The proposed robot consists of three modules connected with each other through passive joints. It is propelled using an active pair of wheels per module. Since ...

This paper presents a strategy for the reconfigurable robot exploiting redundancy of 6 DOF planar space robot. The space robots are frequently used to maneuver in harsh environments. The extreme nature of these environments increases the likelihood of ...

With the current advances in Autonomous Navigation Systems for Self Driving Vehicles, there is a need for specialized and focused software architecture for ease in simulating the vehicle behavior and associated modules such as perception, drive by wire ...

In the past decade, a large number of robots were designed to mimic mobility behavior of organisms in nature. The biologically inspired robots improve the mobility of traditional robotic vehicles and make them robust for different terrains unlike the ...

The many advantages of line segment-based maps over occupancy grid maps and the virtues of Monte Carlo-based localization methods have motivated us to formulate a Monte Carlo-based pose tracking method on a map represented with line segments. This paper ...

This paper proposes a novel approach for finding the orientation of the tilted pellet using a single view of the pellet. This is important for the automation of pick and place problem. A texture less isolated cylindrical object is used for the pick and ...

Inverse kinematics of a robot is very essential to find the joint variables that satisfy the desired pose of the robot during its manipulation. This is used in controlling the robot position, animation of the robot, etc. In this paper, step-by-step ...

In this paper, we propose a new robot coverage algorithm using approximate cellular decomposition. While in most coverage algorithms using approximate cellular decomposition, only a resolution-complete coverage is achievable, the proposed algorithm ...

To design and develop a rescue robot, it is necessary to involve different field of engineering so that effective robot mobility on different surface can be achieved. In this regard, stair climbing ability as well as channel crossing ability of a rescue ...

In this work, we manipulate an industrial robot from a remote place through a Local Area Network using a force feedback enabled Phantom haptic device as a master, and a stereo vision system for viewing as well as for depth estimation. We propose and ...

Wheeled mobile robots carry a limited amount of on-board power supply. Therefore, they should reach their destination before they lose all of their energy. This paper presents a real-time heuristic search based optimal on-line path planning technique ...

Networked robots refer to multiple robots operating together in coordination. This work focuses on the problem of path planning of these robots in an unknown environment with obstacles. In the existing techniques, the robots collaboratively find the ...

During past two decades many efforts have been made by different researchers in developing robotic grippers. Some of these grippers are robust and used for handling large objects. On the contrary, certain grippers are adroit enough even to handle ...

In this paper, we propose a better planning technique of the standard walking gaits for a quadruped robot than the conventional successive gait transition method to realize omnidirectional static walking. The technique involved planning the sequence as ...

Singularity of robotic manipulators is an important issue in the stability and control of autonomous robotic systems. This paper presents a real-time dynamic singularity avoidance approach for such autonomous free-floating space robots where visual ...

Interaction with a robot has been an active area of research since the inception of robotics. Talking to a robot has always been considered the most natural way to communicate with it. But it is not always possible to have a full-fledged, standalone ...

In this paper, we propose a novel planning technique for monocular camera based Simultaneous Localization and Mapping(VSLAM). In VSLAM, the objective is to estimate the trajectory of camera and simultaneously identify 3D feature points and build a map, ...

An introductory level robotics course mainly comprises the topics like geometry, kinematics, and dynamics of serial-chain robots. The description of the robot geometry using the Denavit-Hartenberg parameters and the kinematic and dynamic analyses ...

Robotics has emerged as a research interest to find its place in various applications such as industries, automobile, space robots, health care, etc. The thrust in robotics research has resulted in increasing number of courses being introduced in the ...

Guiding a redundant nonholonomic mobile manipulator to perform a given end-effector task in an unknown environment is a challenging problem. This paper investigates the online redundancy resolution and kinematic control of a nonholonomic mobile ...