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This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator ‘guidance’. Derived haptic guidance trajectories are superimposed to master-device...
This paper proposes a fuzzy logic based algorithm which decides the best telescope, within a heterogeneous network, taking into account user constraints, weather forecast, visibility and statistical information from every telescope. The main objective of this algorithm is to serve the maximum number of observations as soon as possible, minimizing the reallocation process and improving the selection...
This paper proposes a control scheme for handling surgical instruments by a single port access surgery robotic platform. This scheme is based on a Hidden Markov Model for detecting interaction with tissue inside the abdomen and a Kalman filter measurement fusion method for estimating the fulcrum point using forces and torques exerted on several instruments. In order to perform movements taking into...
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