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This paper presents the mechanical design of a social robot, Nancy, developed by Social Robotics Laboratory, Interactive and Digital Media Institute, National University of Singapore. The objective of our project is to introduce the social robot which is capable to interact with people, especially the elderly, based on fundamental, functional and social tasks. We developed Nancy with multi-module...
In this paper, an adaptive neural network control strategy is presented for motion/force control of a class of constrained mobile manipulators with unknown dynamics. The system is subject to both holonomic and nonholonomic constraints. The control law is developed based on a simplified dynamic model. The adaptive neural network controller is proposed to deal with the unmodelled dynamics in the system...
Dynamic modelling for robot manipulators including motor dynamics is introduced first. The resulting dynamic models are then transformed into an attractive form, under moderate assumptions, to which the most recent control design methods are applicable. Several fundamental properties are discussed briefly in order to facilitate the control design. The proposed control methods tackle two main issues:...
A unified adaptive control scheme for rigid body robots is presented which has, as special cases, the most recent control laws, such as variable structure control laws and adaptive control laws obtained by exploiting a Hamiltonian property of rigid body robots. The resulting control laws are free of troublesome inertia-matrix inversions. Integral error control is explicitly introduced to effectively...
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