The riding comfort and the maneuverability play increasingly important roles in the development of the moving platform of manned robots. The escaping dynamics and the sensor-based automation have been topics in the issues of the automobile industry since 1995’s. It occurs when the vehicle slips away from its prescribed trajectory during braking or cornering. This paper is to construct an intelligent controller to avoid escaping phenomenon for the wheeled and the caterpillar robot platforms. The proposed algorithm is focused on modeling, analysis, and control of nonholonomically vehicle dynamics on the geometric point of view. The stratagem of the anti-lock braking system (ABS) is to navigate the cornering dynamics using the intelligent controller, which successfully integrate a fuzzy-logic controller and multi-stage electronic sensors. Finally, dynamic simulations and experiments of a sensor-based prototype are made to justify the performance of the proposed algorithm.
This paper is dedicated to self-handcraft an inexpensive, however, anthropomorphic robot face on the viewpoint of ryodoraku craftsmanship instead of the traditionally engineering viewpoint. Generally speaking, artificial emotions can be categorized into three stages. i.e., the preliminary abstraction, secondary expressionism, and advanced anthropomorphism. In this paper, biomimetic material is fabricated and mixed with the hypodermic mechanisms. Dynamic analysis and computer simulation of the inventive mechanisms are proposed to simplify the mechatronic design of each artificial module on the self-fabricated robot head. Thus, delicate variations of the facial emotions can dramatically spiritualize the humanoid robot with passionate scenarios. Finally, the ryodoraku simulations with PTZ(pen-tilt-zoom) dynamics are carefully examined and successfully demonstrated the advantages of the proposed innovation.
Pneumatic power source has become increasingly delicate and effective in the application of tiny mechanical devices in the past few years. Advanced eyeball expression contributes much more impressions than any other facial organ on the robot skull. This paper is dedicated to self-handcraft an incentive, inexpensive, and animated eyeball mechanism on the spherical space instead of Cartesian space. The proposed biomimic eyeball module will be developed by the series-connected, pneumatically driven AI-servo actuators on the viewpoint of topology. In this paper, emotional simulations and the experiments with the data acquisition are also examined and successfully justified the advantages of the proposed innovation.
The PC-based ryodoraku technique has played increasingly important role in the field of traditional Chinese medicine because of its advantages of better preventive diagnosis, less side effects and inexpensive medicare. Since the 1950’s, Dr. Nakatani Yoshio has developed the ryodoraku methodology to measure skin resistance for the purpose of preventive diagnosis based on Chinese acupuncture and the qi-field theory. However, the physician can hardly measure and adjust the qi-field biological energy of the limb meridians because of the clinical complexities for the moving robotic platform handicappers. In this paper, the ryodoraku theory of the limb meridians is modified by the bladder meridian detection on the spinal cord of handicappers so that they can acquire better clinical therapy. A PC-based expert system is developed on the crystal panel to detect bladder energy and make real-time acupuncture therapy according to the qi-field reactions on the spinal meridian of the examinee. Finally, clinical experiments are carefully schemed to justify the advantages of the proposed algorithm in Tse-En Clinic of Traditional Chinese Medicine.
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