This paper describes four-wheeled robotic chassis of the autonomous mobile robot Bender II utilizing Ackermann steering and independent rear drive units. The robot is designed for the use in outdoor environment. Independent rear drive gives better traction in uneven terrain with the cost of doubling the motion hardware (motors, gears and controllers). Hardware and software implementation details as well as practical experiences of this approach deployment are presented.
This paper presents a novel approach to the design of a motorized rehabilitation device -active elbow orthosis (AEO) -inspired by the principles of robotic exoskeletons. The device is currently designed for the elbow joint, but can be easily modified for other joints as well. AEO determines the motion activity of the patient using a strain gauge and utilizes this measurement to control the actuator that drives the forearm part of the orthosis. Patient activity level is related to a free arm measurement obtained via a calibration procedure prior to the exercise. A high-level control module offers several types of exercises mimicking the physiotherapist. The device was successfully verified by tests on a number of patients, resulting in extended range of elbow-joint motion.
Finding a way through an unexplored environment belongs to actual problems in many artificial agent systems. Common algorithms as state-space searching or rapidly exploring random trees are used when the map of given environment is known. In this paper we present simulation experiments with multi agent system represented as artificial ant colony.
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