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This paper presents a new adaptive servo-level shared control scheme for a mobile assistive robot that aims at assisting senior and disabled people to transport heavy objects in a complex environment with obstacles. Several technical problems and challenges related to the assistive robotic system and the shared controller are addressed. Specifically, a nonlinear tracking controller is developed for...
This paper develops a sensor- and sampling-based motion planner to control a surgical robot in order to explore osteolytic lesions in orthopedic surgery. Because of the difficulty of using conventional surgical tools, such exploration is needed in minimally-invasive treatments of “particle diseases,” which commonly result from material wear in total hip replacements. Since a geometric model of the...
A security robot simulator can be a useful tool for planning security strategies. However, few simulators or systems for security robot planning have been designed to date. This involves the implementation of low-level procedures to control robot behavior, action and motion and high-level procedures such as patrol path planning. In this paper, we propose a new security robot simulation system, Security...
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