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This paper presents a novel method for controlling a dual arm robot to pick heavy objects. The motivation for this study is inspired from the observation of human motion in their daily activities. Two reflex actions are proposed in this work. The first reflex is designed to control the COM of the robot when its stability is endangered by the effect of the object weight. Static stability criterion...
The objective of multirobot task allocation (MRTA) is to assign tasks to robots to minimize the overall cost of task performance. This paper proposes a decentralized MRTA approach considering the robots' residual expendable resources and their limited communication ranges. The proposed approach consists of two algorithms, namely, resource-aware cost generation (RCG) and ad hoc network-based task allocation...
A market-based task allocation mechanism has been widely used in multi-robot coordination. However, most of approaches consider a bid as either quality or cost, or a combination of the two. This paper proposes a preference-based task allocation framework for coordination of multiple robots. To provide preference in task allocation, four bid elements are defined: task quality, task cost, task distance...
Genetic robot is one of artificial creatures and has its own genome in which each chromosome consists of many genes that contribute to defining its personality. By using the concept of genetic robot, this paper proposes personalized robotic doll by applying evolutionary process to generate unique propensity, defined by its genome. A genome population is evolved such that it customizes the genome satisfying...
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