DESIGN AND DEVELOPMENT OF AN OMNIDIRECTIONAL MOBILE BASE FOR a SOCIAL ROBOT

... Understand Behavioral layer target area speech Motion and Audio and Vision Speech Animation localization gestures task task task Mobile platform Speakers Camera/s Microphone/s Animated head and arms ... Example of social robot architecture for execution and robot behavioral layer 2.2 Review of mobile Robots The prevalence of automation and mobile robotic platform has seen a rise of demand for ... and we have to calculate the angle of each joint Robot kinematics can be divided in serial manipulator kinematics, parallel manipulator kinematics, mobile robot kinematics and humanoid kinematics...

... Convergence and Robustness Prentice-Hall, Engle-wood Cliffs, NJ (1989) Campion, G., d’Andrea-Novel, B., Bastin, G.: Modeling and State Feedback Control of Nonholonomic Mechanical Systems In: ... Proceedings of the 30th Conference on Decision and Control, IEEE, pp 1184–1189 England (1991) Campion, G., d’Andrea-Novel, B., Bastin, G.: Controllability and state feedback stabilization of nonholo-nomic ... Sarkar, N.: Unified formulation of robotic systems with holonomic and nonholonomic constraints IEEE Trans Robot Autom.14(4), 640–650 (1998) 15 Kim, D.-H., Oh, J.-H.: Tracking Control of a twowheeled...

... y , θ ) and vice versa The translational velocity of wheel hub vi can be divided into a part due to pure translation of the robot and a part due to pure rotation of the robot: νi =νtrans, i +νrot ... wheels can be seen in robotics, industry, and logistics The main sources of omnidirectional wheels are companies which produce them for omnidirectional conveyor systems, for example, for handling ... official minimum distance of 4cm but can range down to 2cm This allows the sensors to be placed near the edge of the robot It has an official maximum range of 30cm but it can range up to 80cm though...

... picture of the turn table from (a) front and (b) rear side 3.4 DESIGN AND DEVELOPMENT OF AN ON- MACHINE PROFILE MEASUREMENT SYSTEM One of the most important targets of this study was to design and ... wheel and analyzed the tendency of grinding force and surface roughness from various working conditions such as spindle speed and depth of cut In order to verify the variation of grinding force and ... precision ELID grinding machine, a turn table, an on- machine surface profile and another on machine wheel wear measurement system The ultimate goal was to develop an ELID grinding machine which...

... determining the SOFC system performance The detailed designs of each of these components in the INER SOFC system are described in the following subsections 3.1 Flow distributor In general, an SOFC ... 44%) Design of SOFC BOP components The BOP components of a SOFC system account for between 50% and 70% of the total system cost Due to the high operating temperature of SOFC, the material of all ... pressure and mass flow rate in the major BOP components so as to identify potential design improvements in the INER SOFC system in the future In practice, optimizing the SOFC system performance using...

... DESIGN AND DEVELOPMENT OF MEDICAL ELECTRONIC INSTRUMENTATION DESIGN AND DEVELOPMENT OF MEDICAL ELECTRONIC INSTRUMENTATION A Practical Perspective of the Design, Construction, and Test of Medical ... synchronize the inflation and deflation of pressure suits adaptively to gain an increase in the level of gravitational accelerations that an airman is capable of tolerating Additional applications, such as ... however, may not be available in electronic format Library of Congress Cataloging-in-Publication Data: Prutchi, David Design and development of medical electronic instrumentation: a practical perspective...