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This work presents a MNSM (Mirror Neuron System Mechanism) inspired method to control the motion of a dual-arm robot. The new symmetrical action can be classified as instinct-following arbitrary trajectory and goal-based motion; they are planned by the dual-arm robot planner, and implemented by the dual-arm robot within a master/slave protocol. The master arm uses a motion planner to generate corresponding...
This paper presents algorithms for role assignment and formation control in multi-robot systems. Two circumstances have been discussed. One is with fixed target formation positions, and the other is without fixed target formation positions. For the former circumstance, a modified Hungarian algorithm has been proposed to assign a role for each robot with the purpose of consuming less time to form the...
An executive system of tomato harvesting robot was constructed by integrating self-designed end-effector with commercial Motoman manipulator. To communicate the enclosed controller JRC of manipulator with PMAC controller of end-effector, statements in programs of both PComm32PRO and WINCAPS were used to set digital input/output by each other through two relays and certain condition judging statements...
To figure out the limitation of enough power resource or energy supplied in Antarctic expedition, this paper presented a large-size spherical robot which can drive by internal power and wind. It consists of a 2-DOF pendulum inside the shell, rotating with transverse and longitudinal axis. Due to the non-holonomic restraint of motion, for smooth and steady control, the spherical robot is designed to...
To realize visualization for Process Control Systems (PCS) in Life Science Automation (LSA), the authors developed a Control and Simulation System. As an intermediary, the system receives scheduling data of experiment workflow from the PCS via a TCP/IP socket. Based on these data, it drives the simulation software 3DCreate to realize the automated experiment simulation by calling its COM API and Python...
The purpose of this study is to develop a new system to synchronously control the simulated robot and humanoid robot based on the skeletal tracking technology. This system is a human-robot interaction system. Human can control the robot through the skeletal tracking technology without placing any marker on the subject's body. We use the Microsoft Kinect to get the skeleton framework information of...
In this paper, we develop a brainwave-based control system for Cerebot, consisting of a humanoid robot and a CerebusTM Data Acquisition System up to 128 channels. Under the OpenViBE programming environment, the control system integrates OpenGL, OpenCV, WEBOTS, Choregraph, Central software, and user-developed programs in C++ and Matlab. The proposed system is easy to be expanded or upgraded. Firstly,...
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