Chuntao Leng

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This paper provides a prototype of an intelligent robotic walking assistance system named Walkmate with force sensor interface and a motion control algorithm for it. Our human-machine interface with the force sensors embedded in handlebars offers a nature negative feedback loop of the motion control.
A more suitable motion planning method for an omni-directional mobile robot (OMR), an improved APF method (iAPF), is proposed in this paper by introducing the revolving factor into the artificial potential field (APF). Accordingly, the motion direction derived from traditional artificial potential field (tAPF) is regulated. The maximum velocity, maximum(More)
The kinematic modeling of an omnidirectional mobile robot is introduced, of which the arrangement of the omnidirectional wheels is arbitrary. With the particular structure of omnidirectional wheel, the kinematic performance is distinct while the robot moves in different direction, which is called anisotropy. The rule about the relationship between the(More)
To deal with the sudden motor failure during the match, the method of fault tolerant control on omnidirectional soccer robot will be introduced in this article. First of all, the kinematics model of two-wheeled differential driving robot and omnidirectional robot will be given. Then kinematics model of omnidirectional robot with a motor failure will be(More)
1Department of Environmental Robotics, Faculty of Engineering, University of Miyazaki, 1-1 Gakuen Kibanadai-nishi, Miyazaki-shi 889-2192, Japan 2Department of Intellectual Information Engineering, Faculty of Engineering, University of Toyama, No. 5506, Information Technology Building (G9), Gofuku 3190, Toyama 930-8555, Japan 3Research Institute of Robotics,(More)
BACKGROUND Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency(More)
The smart manufacturing program is gaining more and more research interests. To meet the requirements of increasingly low-volume, time-critical tasks, the traditional program-by-teaching methods should be replaced by more flexible and intelligent manufacturing processes. In this paper, we introduce the efforts of deploying ubiquitous robotic technology to(More)