This paper presents the design and testing of Abigaille-I, a spider-inspired robot.The system is miniaturized and has six legs and 18 actively controlled joints. Macro-, micro-and nano-structural design of the robot legs and feet are presented and preliminary experimental results are discussed. The long-term objective of this research is to develop an autonomous and miniaturized robotic system capable to negotiating terrain of any roughness and material and be eventually capable of operating in a space environment.
SUMMARYThis paper presents an approach to reduce the technical complexity of a service robotic system by means of systematic and well-balanced user-involvement. By taking advantage of the user's cognitive capabilities during task execution, a technically manageable robotic system, which is able to execute tasks on a high level of abstraction reliably and robustly, emerges. For the realisation of this approach, the control architecture MASSiVE has been implemented, which is used for the control of the rehabilitation robot FRIEND II. It supports task execution on the basis of a priori defined and formally verified task-knowledge. This task-knowledge contains all possible sequences of operations as well as the symbolic representation of objects required for the execution of a specific task. The seamless integration of user interactions into this task-knowledge, in combination with MASSiVE's user-adapted human–machine interface layer, enables the system to deliberately interact with the user during run-time.
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