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RISAnalysis and Control of an In-Pipe Wheeled Robot With Spiral Moving Capability
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents analysis and control of a wheeled robot that can move spirally inside the pipeline. The wheeled robot considered is composed of two mechanical bodies, a pair of differential-drive wheels, a lifting ...
Design and Optimization of a Wearable Underactuated Mechanism for Spinal Posture Measurement
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a novel wearable device to monitor and record the posture and alignment of spine. The proposed device adopts an underactuated mechanism design which allows it to adapt to the multiple-degrees-of-freedom ...
Deep Reinforcement Learning for Navigation and Collision Avoidance of Multi-Robot Systems By Constructive Network Expansion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. This article presents a navigation and obstacle avoidance policy network for multi-robot systems using deep reinforcement learning. The network is first designed and trained for a dual-robot setup. By incorporating ...
Determination of Motor Torque for Power-Assist Electric Bicycles Using Observer-Based Sensor Fusion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a sensor fusion algorithm to determine the motor torque for power-assist electric bicycles. Instead of using torque sensors to directly measure the pedaling torque, outputs from a wheel encoder and a ...