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This paper presents a model based approach to the soft tissue deformation planning. The deformable object is manipulated through boundary displacements induced by robot manipulators controlled in position. The manipulated boundaries are maneuvered such that the control points defined on the deformable object converge to the desired locations. The proposed control is based on a Jacobian transformation...
This paper outlines the framework of a complex system to demonstrate multimodal spatial and transactional intelligence in a robot which supports aged, frail, or otherwise disabled people in a domestic assistive technology context. The intention is that the robot be able to navigate around a known multi-room environment along optimal, collision-free paths in search and retrieval of requested objects...
A control methodology for the operation of a hydraulic excavator using a haptic operating device is developed. The main idea is to use position controllers for both the excavator and the operating device where both control loops output the reference position to the other, i.e., two position controlled systems are placed in a feedback loop with each other. The human operator acts as an input disturbance...
A novel haptic teleoperated scheme for an efficient obstacle avoidance under human guidance is introduced. A remote robot immersed in an environment with obstacles is guided by a user using the end-effector of a haptic device. The system provides force feedback to the user when he approaches a potential field surrounding an obstacle. The user assigns the potential fields to the obstacles based on...
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