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In the RUNES project a disaster relief tunnel scenario is being developed in which mobile robots are used to restore the radio network connectivity in a stationary sensor network. A component-based software development approach has been adopted. Two components are described in this paper. A localization component that uses ultrasound and dead reckoning to decide the robot positions and a collision...
This paper presents design, implementation and performance of a new Variable Stiffness Actuator (VSA) based on Harmonic Drives (VSA-HD), which is an improvement over past work reported in. While previous prototypes have been developed to demonstrate the effectiveness of the variable stiffness actuation principle and the possibility to develop a compact and reliable actuator, the VSA-HD has been obtained...
Variable stiffness actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of motion and stiffness reference profiles. The operative condition that avoids control singularities...
This paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge...
In this paper we discuss the integration of active and passive approaches to robotic safety in an overall scheme for real-time manipulator control. The active control approach is based on the use of a supervisory visual system, which detects the presence and position of humans in the vicinity of the robot arm, and generates motion references. The passive control approach uses variable joint impedance...
This paper presents design and performance of a novel joint based actuator for a robot run by variable stiffness actuation, meant for systems physically interacting with humans. This new actuator prototype (VSA-II) is developed as an improvement over our previously developed one reported in [9], where an optimal mechanical-control co-design principle established in [7] is followed as well. While the...
Robots designed to share an environment with humans, such as e.g. in domestic or entertainment applications or in cooperative material-handling tasks, must fulfill different requirements from those typically met in industry. It is often the case, for instance, that accuracy requirements are less demanding. On the other hand, concerns of paramount importance are safety and dependability of the robot...
A scalable platform for decentralized traffic management of a multi-agent system has been proposed. Safety of the platform is achieved with a cooperative conflict avoidance policy. Security of communications among vehicles with respect to potential external adversaries is obtained through use of cryptographic keys and rekeying policies. A prototypical implementation of the architecture has been described,...
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