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In this paper, multi-input multi-output (MIMO) direct adaptive torque controller is presented that uses a conventional fuzzy system to provide asymptotic end-effector tracking of a reference path for a 9-DOF hyper-redundant manipulator. It is illustrated via simulations that the MIMO adaptive controller, which drives the torque of each joint to control end-effector dynamic variables, can highly improve...
The main purpose of this paper is to describe the method of group robot control in non-deterministic environments. Here the group structure is proposed for creation with the use of space lattice concept minimizing the computational cost for robot to determine its spatial position in the ranks of the structure. The stages of the solution of two interrelated tasks of robot group motion organization...
Autonomous robot driving decision strategy following road signs and traffic rules is described using simulation with a Turtlebot [1]. A fully autonomous robot driving strategy is presented, which follows human level logic in decision making. A vision-based autonomous vehicles navigation system for road vehicles includes three main parts: 1) road and traffic signs detection; 2) vehicle movement guidance...
In this research, ball Segway, a robot with three omnidirectional wheels balancing on a ball, is introduced. Translation while balancing is achieved by coordinating relative motions of the three omni-driving modules where each of them is composed of an omnidirectional wheel, a gear box and a smart motor. Kinematics and dynamics of the composed motion of the three omni-driving modules and the ball...
Path planning problem for a vehicle group in a two-dimensional obstructed environment is addressed. The kinematics equations of the vehicles on a plane with ideal connections are considered. Then a method is proposed for planning motion paths based on the interpretation of all the neighboring objects as repellers. The method on the basis of simple algorithms implemented in design of vehicles enables...
This paper proposes mapping and path planning algorithms for an unknown environment using a communication graph of an unlocalized robotic swarm system. Unlike the previous efforts that used the absolute position information of all the robots, in the proposed algorithms, the unknown environment is described as the communication connectivity graph achieved via a distributed consensus algorithm. Thus,...
The number of children diagnosed with autism spectrum disorders (ASD) is on the rise internationally. Most of these children require some degree of special education provision, whether they are educated in regular or specialized settings. Most if not all children with ASD exhibit some impairments with social communication skills. Yet, these skills are associated with outcomes in cognitive functioning...
Cable-driven parallel robots have a wide range of applications due to its unique characteristics of large workspace and high payload and dynamics. One of its promising industrial applications is high speed material handling allowed by high dynamics of the cable robots. The high speed material handling has been mostly performed by traditional parallel robots, such as delta robots whose workspace and...
This paper presents an approach of the self-tuning control with neural network for robot manipulator in an object balancing task. A 3DOF robot arm (Novint Falcon 3D haptic) is used to hold a flat plate balancing a cylindrical object put on. Since a neural network algorithm were presented earlier in [1], [2] in order to learn and control the posture of the robot, we now employ the visual feedback into...
In this paper, we present a human detecting system based on three-dimensional(3D) point cloud by discriminating between human and other objects by using range sensor. Although the shape of same objects seen from a sensor according to the difference of distance between the object and a sensor, we divided some areas in the vicinity of a sensor (about 0.3m∼5m) by the difference of distance. Then, we...
Odometry is a widely used method for estimating the location of a mobile robot on even terrain; the use of attitude sensors has expanded the application of this method to three-dimensional space. To estimate the location of a mobile robot on uneven terrain, this expanded odometry integrates the velocity of the robot, the direction of which is fixed to the robot's orientation from the data measured...
Currently, absolute positioning methods for indoor flying robots use multiple cameras to measure position through image processing. However, such systems are large scale and costly. Therefore, we have developed a measurement and control system that uses ultrasonic waves. The system consists of a ground base with three ultrasonic transmitter units and a flying robot. The flying robot is equipped with...
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