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MOUSE CONTROLLED ROBOTIC ARM USING VHDL
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Rahul Z Malviya*, Rushi Surana, Pradnya Moon
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This paper present a Mouse controlled robotic arm using VHDL. Modern life has become very complex and difficult..Therefore we need to find ways and means to make it simpler. It aims at this aspect of human life to make it comfortable. The main focus is to control robotic arm with a mouse. Using the mouse the robotic arm will move along all the three axes. FPGA has an advantage over microcontroller that it can have ‘n’ number of inputs & outputs and VHDL code can be edited at any moment. From those preconditions vhdl components were created for the joystick and controlling of the robotic arm. The embedded system contained several Xilinx components, including the Microblaze CPU which ran the di_erent kernels.Spartan 3 FPGA kit allows to interface between robotic arm and mouce via FPGA....
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ROBOTICS MIDDLEWARE: A COMPREHENSIVE LITERATURE SURVEY AND ATTRIBUTE-BASED BIBLIOGRAPHY
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Ayssam Elkady, Tarek Sobh
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Autonomous robots are complex systems that require the interaction between numerous heterogeneous components (software and
hardware). Because of the increase in complexity of robotic applications and the diverse range of hardware, robotic middleware
is designed to manage the complexity and heterogeneity of the hardware and applications, promote the integration of new
technologies, simplify software design, hide the complexity of low-level communication and the sensor heterogeneity of the
sensors, improve software quality, reuse robotic software infrastructure across multiple research efforts, and to reduce production
costs. This paper presents a literature survey and attribute-based bibliography of the current state of the art in robotic middleware
design. The main aim of the survey is to assist robotic middleware researchers in evaluating the strengths and weaknesses of
current approaches and their appropriateness for their applications. Furthermore, we provide a comprehensive set of appropriate
bibliographic references that are classified based on middleware attributes....
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ON THE IMPROVEMENT OF MULTI-LEGGED LOCOMOTION OVER DIFFICULT TERRAINS USING A BALANCE STABILIZATION METHOD
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Umar Asif, Javaid Iqbal
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This paper deals with the real-time walking of a
multi-legged robot over difficult terrains using a balance
stabilization method in order to achieve a fast speed and
robust locomotion with minimal tracking errors. The
stabilization method is described through a ZMP-based
online pattern-generation scheme inspired by bio-mimetic
stepping leg transferences with an active balance control so
as to reduce the propagation of instability while performing
rapid stepping actions for a fast walking gait in the presence
of external disturbances. The proposed control system uses a
force-position controller [14] which takes impact dynamics
into consideration to compensate for the effect of external
perturbations during walking by estimating impulsive
forces in real-time. Using the proposed stabilization
method, the robot plans appropriate footholds on the
ground in order to achieve a reasonable average walking
speed over difficult terrains in a natural environment. The
success and performance of the proposed method is
realized through dynamic simulations and real-world
experiments using a six-legged hexapod robot....
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A SHAPE MEMORY ALLOY-ACTUATED BIO-INSPIRED MESOSCALE JUMPING ROBOT
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Thanhtam Ho, Sangyoon Lee
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Jumping may be considered to be quite a useful
means of mobile robot locomotion, but acquiring a stable
landing has been a difficult problem. This paper reports on
the design, analysis, simulation and experiments of a
mesoscale jumping robot that is capable of stable landing.
A jumping mechanism inspired by jumping insects is
introduced and an actuation scheme using only one shape
memory alloy (SMA) spring is described. Experimental
results show that a robot with a 17 gram weight and 13 cm
diameter can jump forward as far as 1.2 times its body
diameter and vertically as high as 1.5 times its body
diameter. In addition, the robot is able to land in a stable
manner and recover its initial posture after landing...
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