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Robotics & Automation Magazine, IEEE

Issue 4 • Date Dec. 2003

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Displaying Results 1 - 12 of 12
  • Robots in radioactive environments

    Publication Year: 2003 , Page(s): 12 - 22
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (4353 KB) |  | HTML iconHTML  

    With improving technology and the growing perception of the need to keep human workers away from high radiation areas, more competitive robotic systems are increasingly becoming available. This article describes our ten years of experience in developing telerobotic systems for maintenance operations in the Spanish nuclear industry. It also describes a teleoperation platform that can be used with standard robots or with specially designed service robots. The modular architecture of this teleoperation platform has allowed the reuse of software components designed for very different applications and drastically reduce development lead time. View full abstract»

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  • Ver-vite: dynamic and experimental analysis for inchwormlike biomimetic robots

    Publication Year: 2003 , Page(s): 53 - 57
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1057 KB) |  | HTML iconHTML  

    The intent of this work was to design an innovative robot to imitate inchworm locomotion. The prototype built demonstrates successful implementation of using only friction and variable masses to generate the motion. The theoretical model was simulated using working model and validated experimentally. The computer simulation shows the dynamic and kinetic effects on inchworm mobility, providing a complete understanding of the design concept. The experimental results compare well with the theoretical model, although the exact coefficient of friction during the experiment was not measured. Theoretical and experimental results both indicate a slight backward motion of the robot during the contractile phase of the cycle of motion. Although the results are similar, the theoretical model fails to include such phenomena as the friction in the revolute joints and the vibration produced by the pump and servos. The theoretical model will be used in future work to optimize the design of the robot for dynamic performance. View full abstract»

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  • Ping-pong player prototype

    Publication Year: 2003 , Page(s): 44 - 52
    Cited by:  Papers (35)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1120 KB) |  | HTML iconHTML  

    In this paper, a low-cost robot capable of playing ping-pong against human opponent using a vision system to detect the ball is presented. In the subsequent sections, the three main subsystems of the robot, i.e., the vision system, mechanical structure, and the control systems, are described. A prototype has been designed with lightweight and resistant materials to increase the response time and accurateness of the shot. One of the important features of this system is that it uses only one camera to detect the ball, thus reducing the computational time and hardware requirements. To detect the location of the ball, the robot combines the information about the ball and about the shadow it casts on the table. The expert module control defines the game strategy. Orienting the bat in order to return the ball to the desired position on the table does this. In these experiments, the success rate in returning balls was greater than 80%. View full abstract»

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  • The wheeleg robot

    Publication Year: 2003 , Page(s): 33 - 43
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2233 KB) |  | HTML iconHTML  

    This article describes a hybrid wheeled/legged robot, called the Wheeleg robot. The Wheeleg robot consists of wheels and legs separated but always acting together to locomote the system. A detailed description of the Wheeleg robot from a mechanical and electrical point of view is provided. Some considerations concerning the computing architecture are made, and some experimental results obtained in the laboratory and on volcanic terrain are given. View full abstract»

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  • SIL04: a true walking robot for the comparative study of walking machine techniques

    Publication Year: 2003 , Page(s): 23 - 32
    Cited by:  Papers (18)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2128 KB) |  | HTML iconHTML  

    This article presents the SIL04 walking robot, a medium-sized quadruped mechanism built for basic research and development as well as for educational purposes. The SIL04 is a compact, modular, robust machine capable of negotiating irregular terrain, surmounting obstacles up to 250 mm tall and carrying about 15 kg in payload at a maximum velocity of about 1.5 m/min, depending on the gait it is using. A brief description of SIL04's leg and body structures, foot mechanisms and robot configuration is provided, and some insights into the hardware, software and simulation tools developed for SIL04 are presented. View full abstract»

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  • Society news - ICRA 2003-Taipei 15-18 September 2003

    Publication Year: 2003 , Page(s): 5
    Save to Project icon | Request Permissions | PDF file iconPDF (810 KB)  
    Freely Available from IEEE
  • Plenary and panel sessions

    Publication Year: 2003 , Page(s): 5
    Save to Project icon | Request Permissions | PDF file iconPDF (810 KB)  
    Freely Available from IEEE
  • ICRA and RAS Society Awards

    Publication Year: 2003 , Page(s): 6
    Save to Project icon | Request Permissions | PDF file iconPDF (409 KB)  
    Freely Available from IEEE
  • RAS Awards

    Publication Year: 2003 , Page(s): 6 - 7
    Save to Project icon | Request Permissions | PDF file iconPDF (636 KB)  
    Freely Available from IEEE
  • Nigeria Chapter Report

    Publication Year: 2003 , Page(s): 8 - 10
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (360 KB)  

    First Page of the Article
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  • Author Index

    Publication Year: 2003 , Page(s): 67 - 68
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    Freely Available from IEEE
  • Subject Index

    Publication Year: 2003 , Page(s): 68 - 71
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    Freely Available from IEEE

Aims & Scope

IEEE Robotics and Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive.  The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Eugenio Guglielmelli
Laboratory of Biomedical Robotics
      and Biomicrosystems
Universita' Campus Bio-Medico
      di Roma