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The aim of our project is to develop a robot to manipulate an object in human environment. In this paper, as a first step, we focus on opening paper box such as tea box, and present a method to plan grasp motion by 2 arms with multi-fingered hands. we propose a task priority based scheme to plan grasping area consistent with whole steps of the given task procedure. Based on the grasping area and the...
In this paper a novel model based on electromagnetism-like mechanism (EM) is proposed which is highly compatible with discrete space problems. The proposed method utilizes the EM operators to move particles towards an optimal or near optimal solutions. In fact, the proposed algorithm exploits the crossover operator to calculate forces on particles and move them according to these forces. To keep the...
This paper presents a novel sensorless force control algorithm for Multi-degree-of-freedom flexible systems which enables controlling the interaction forces with the environment without using force sensors. The coupled nature of flexible system dynamics makes it possible to estimate externally applied forces or torques that arise due to system's interaction with the environment. Disturbance and flexibility...
This paper presents a synchronization scheme of bilateral teleoperation systems with time delay using genetic algorithms. In general, bilateral teleoperation systems have two main goals: stability and transparency. The system can be destabilized by time delay in the communication channel between the master and the slave. Also, transparency can be degraded by time delay. However, it is not easy to...
Nowadays, magneto-rheological (MR) fluid dampers (MRD) are widely used for the semi-active suspension control in vibration community. However, the inherent nonlinear nature of the MRD causes challenges for damping control of the suspension system using this device with high performance. Therefore, the development of an accurate modeling method for a MRD is necessary to take advantage of its unique...
In this paper a study on rendering of environmental force feedback in mobile robot teleoperation based on fuzzy logic is presented. To ensure safety of mobile robot teleoperation it is often necessary to provide environmental force feedback which is related to the distance between the obstacles and the mobile robot. In previous approaches force feedback was rendered based on the measured distance...
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