Ioan Doroftei

A conceptual walking vehicle for planetary exploration

A lightweight, small size walking robot currently being developed at the Universite Libre de Bruxelles as a conceptual vehicle for planetary exploration is described. The robot consists of three articulated bodies connected by universal joints. Each body has two legs with two degrees of freedom each. Each universal joint is provided with two actuators and torque sensors; a compliant behaviour is achieved by force feedback. This particular device improves considerably the agility of the walking vehicle by allowing the central body to follow the ground profile. Furthermore, the vehicle can walk on both sides and can recover from roll-over thanks to the actuated universal joints which allow an autonomous transfer from back to belly.

An integrated robotic system for antipersonnel mines detection

Abstract In this paper robotic systems for antipersonnel mines detection are presented. Robots with different locomotion principles have been developed to carry mines detection sensors. In this project, many different aspects including mechanics, control and positioning have been addressed. After a short review of the project and a description of the system components, the control and communication architecture of the robotic detection systems is presented. One of the most important issues in this application was the synchronisation of the processes between the microcontrollers and remote computers. The method that has been implemented has proven to be robust and the different systems have been used to acquire very useful data for the research community.

A concept of walking robot for humanitarian demining

Purpose – At present, more than 100 million undetonated landmines left over from wars remain buried worldwide. These mines kill or injure approximately 3,000 individuals each year (80 persons per day), most of them civilians. They represent a particularly acute problem in developing countries and nations already economically hard hit by war. The problem of unexploded mines has become a serious international issue, with many people striving to find a solution. The purpose of this paper is to examine the requirements of the robotic systems for humanitarian demining purposes. It will discuss a hexapod walking robot developed at the Royal Military Academy of Brussels in collaboration with the Free University of Brussels, Belgium, in the framework of the Humanitarian Demining Project (HUDEM).Design/methodology/approach – Considerations for the design of the walking robot according to the humanitarian demining requirements are discussed in detail.Findings – A successful walking robot design for demining purpose...

An Autonomous Micro Walking Machine with Articulated Body

Abstract This paper describes of a lightweight, small size walking robot currently being developed at ULB as a conceptual vehicle for planetary exploration. The robot consists of three articulated bodies connected by universal joints. Each body has two legs with two degrees of freedom each. Each universal joint is provided with two actuators and torque sensors; a compliant behaviour is achieved by force feedback. This particular device improves considerably the agility of the walking vehicle by allowing the central body to follow the ground profile. Furthermore, the vehicle can walk on both sides and can recover from roll-over thanks to the actuated universal joints which allow an autonomous transfer from back to belly.

Design Aspects of a New Device for Ankle Rehabilitation

The ankle joint injuries are very common and their recuperation to fully operational capabilities involves rehabilitation. The existent ankle rehabilitation equipment is simple (like elastic bands, foam rollers) and they allow only simple rehabilitation exercises, which cannot be use safe without the aid of a therapist [1]. Actuated devices are advantageous because they allow many types of exercises on same device, and also they accurate measure forces and angular motions. Thus, the field of rehabilitation robotics is constantly evolving, with novel mechanisms that improve the recovery of the ankle joint. The aim of this paper is to propose a new platform, which can realize a large range of ankle related foot movements. This device can perform plantar flexion/dorsiflexion movements as well as the inversion/eversion movements. A 3D design is presented, as well as input angle variation function of output angle.

Design of a Testing Device for Cruciform Specimens Subjected to Planar Biaxial Tension

Multiaxial experiments are necessary to determine materials behavior subjected to complex stress state corresponding to real operating conditions under complex loadings. Stresses applied in biaxial experiments are closely to the stresses that materials experience during their function life. Because of reduced acquisition cost, operation cost and maintenance costs devices attached to the universal testing machine are beginning to be used in ever more applications. The present paper examines a new type of mechanism used to test biaxial cruciform specimens in order to evaluate stress state in planar biaxial tensile testing.

Remote Controlled Wheeled Mobile Robot for Humanitarian Demining Purposes

There are millions of lethal land-mines that have been left in many countries after conflicts. They represent a particularly acute problem in developing countries and nations already economically hard hit by war. The problem of unexploded mines has become a serious international issue, with many people striving to find a solution. These mines kill or injure thousands individuals each year, most of them civilians. This paper will present an extended work on a wheeled mobile robot for humanitarian demining.

Using mobile robots for a clean and safe environment — A difficult challenge

When the war is finished, the unexploded mines continue to kill or injure individuals, most of them civilians. These mines represent a particularly acute problem in developing countries, problem that has become a very serious international issue, with many people striving to find a solution. This paper will discuss the use of robotic systems for humanitarian demining purposes.

Unmanned Ground and Aerial Robots Supporting Mine Action Activities

During the Humanitarian‐demining actions, teleoperation of sensors or multi‐sensor heads can enhance‐detection process by allowing more precise scanning, which is use‐ ful for the optimization of the signal processing algorithms. This chapter summarizes the technologies and experiences developed during 16 years through national and/or European‐funded projects, illustrated by some contributions of our own laboratory, located at the Royal Military Academy of Brussels, focusing on the detection of unex‐ ploded devices and the implementation of mobile robotics systems on minefields.

Expressing Emotions in Social Robotics - A Schematic Overview Concerning the Mechatronics Aspects and Design Concepts

Abstract Facial features play an important role in expressing emotional state. Therefore, rendering realistic facial expressions plays an important role in the development of social robots within HRI. Hence, the design solutions must meet these requirements. Often mechatronic and design solutions poorly chosen can lead to unsatisfactory results. In this paper, a schematic overview concerning the design solutions adopted in the development of social robots is presented.