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Performance of constrained movements in multiple directions of a workspace simultaneously and in presence of uncertainty is a great challenge for robots. Achieving such tasks by employing control policies which are fully determined a priori and do not take into account the system uncertainty can cause undesired stress on the robot end-effector or the environment and result in poor performance. Instead,...
An algorithm which allows the robot to avoid moving obstacles and to reach the assigned goal is proposed. For this purpose, a dynamical system (DS) modulation matrix is calculated using the distance from the obstacles and their velocity, without the need of an analytical representation of the obstacles. This matrix modulates a generic first order DS, used to generate the desired path, saving the equilibrium...
Human gesture recognition is of importance for smooth and efficient human robot interaction. One of difficulties in gesture recognition is that different actors have different styles in performing even same gestures. In order to move towards more realistic scenarios, a robot is required to handle not only different users, but also different view points and noisy incomplete data from onboard sensors...
Humans exhibit exceptional skills in using tools and manipulating objects of their environment by skillfully controlling exerted force and arm impedance. One of the basic components of this mechanism is the generation of internal models which associate kinematic variables with applied force. On the other hand, making robots capable of skillfully using tools and adapting their motor behavior to new...
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