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During social interaction between humans and robots, body language can contribute to communicate mutual emotional states. In this paper, a method is presented, that enables wheeled robots with differential drive to express various emotional states by means of different movement styles during goal-directed motion. The motion control of the robot utilizes an objective-based motion planner optimizing...
A new concept of avoidance map is introduced which can effectively execute collision avoidance among UAVs. It is based upon representation of the effect of control effort by pairs of UAVs on achievement of avoidance, thus partitioning the control effort space into avoidance and collision regions. To do this, it is demonstrated that collision avoidance can be carried out by applying constant acceleration...
An on-line trajectory generation algorithm with time-variant kinematic motion constraints is presented in this paper. The algorithm is an extension of a class of trajectory planning method which is applicable with constant kinematic motion constraints only. The extended approach allows the abrupt change in the value of the physical robot constraints(jerk, acceleration, and velocity) at any time instant...
A robot's local navigation is often done through forward simulation of robot velocities and measuring the possible trajectories against safety, distance to the final goal and the generated path of a global path planner. Then, the computed velocities vector for the winning trajectory is executed on the robot. This process is done continuously through the whole navigation process and requires an extensive...
In this paper a method is presented that allows an operator to hand-guide a robot along a predefined geometric path. This is a common use case in robot assisted surgery, which often has high demands on precision. In order to ensure the path accuracy of the robot, joint velocity and joint acceleration constraints are enforced to prevent undesired saturation effects of the actuators. Furthermore, necessary...
This paper presents results of experimental investigation of the falling down of human body in order to identify significant characteristics and parameters that help for safe similar situations with humanoid robots. Experiments are discussed with results from lab tests that give both behavior and values of the biomechanics of falling down of human body. Simulations of humanoid robot falling verified...
Knowledge of the human grasp pose is crucial in common control schemes for human-robot object manipulation tasks. Biased estimates of the grasp pose cause undesired interaction wrenches on the human partner, which disturbs the interaction and the recognition of motion intention. A use of wearable motion sensors for tracking the human motion facilitates the grasp pose estimation without a global sensing...
We consider an energy co-optimization problem of minimizing the total communication and motion energy of a robot tasked with transmitting a given number of information bits while moving along a fixed path. The data is transmitted to a remote station over a fading channel, which changes along the trajectory of the robot. While a previous approach to the problem used a speed-based motion-energy model,...
Within Human-Robot Collaboration (HRC) safety is one key-issue that has to be guaranteed at any time during joint collaboration. Collisions in a shared workspace of a Human-Robot-Team (HRT) must be prevented. In addition, the comfort of the collaboration behavior should be provided. Facing these challenges, a robot has to be able to detect critical states at an early stage on the one hand and should...
In the last years, many researchers started to consider teach-and-repeat approaches for reliable autonomous navigation. The paradigm, in all its proposed forms, is deeply rooted in the idea that the robot should autonomously follow a route that has been demonstrated by a human during a teach phase. However, human demonstrations are often inefficient in terms of execution time or may cause premature...
Stopping the motion of industrial robots in response to warnings or unexpected sensor data is a special case of trajectory generation. In contrast to emergency stops, here the robot has to satisfy the limits of the acceleration and the jerk. In addition, during the deceleration the robot must follow the path accurately, i.e., the shape of the original path may not be left. This is usually done by...
As part of dead reckoning, inertial navigation has been developed for many years in locating the vehicle without GPS. We employ the technology on a quadrotor platform to track the trajectory of the vehicle. In this paper, a new method was designed to make the tracking result more precisely. To achieve this, we firstly smooth the sensor data by minus offset dynamically and adopt Kalman Filtering algorithm...
A trajectory specification method for a flapping-wing flying robot exhibiting a novel dynamical model than other types of micro aerial vehicles such as quadrotors and airplanes is presented. The desired trajectory is first defined as a vector-valued, differentiable parametric curve of the form f : RR → RR. The velocity vector at any point of the trajectory is the same as the unit tangent vector obtained...
This paper presents a new device and a method for dynamic manipulation. The device consists of a planar robotic arm and an elastic beam as an end-effector. Using it the elastic end-effector will tend to increase performance and energy efficiency while executing dynamic and repetitive tasks. Through the control of the beam vibration and resonant modes, we modify the state of manipulated objects. For...
The paper considers an a priori given robot trajectory which has to be recomputed when online sensed information on the environment is available. Then the original trajectory is adapted in order to continue the so far commanded motion by the sensed geometric shape. The adapted trajectory has to comply with restrictions on velocity, acceleration and jerk. Furthermore it is desired to converge to the...
This paper presents a high level overview of the work done by Team IHMC (Florida Institute for Human and Machine Cognition) to win the DARPA Virtual Robotics Challenge (VRC), held June 18–20 2013. The VRC consisted of a series of three tasks (driving a vehicle, walking over varied terrain, and manipulating a fire hose), to be completed in simulation using a model of the humanoid robot Atlas. Team...
The robot horse sports is a modern fitness development direction. By analyzing the 6-DOF parallel robot horse platform mechanical structure and motion characteristics, its model of spatial movement was established. ADIS16355 was used as the sensor to collect acceleration data and angular velocity data, which was stored in SD card by the serial interface of AVR microcontroller. Matlab was used to read...
A concept of on-line trajectory generation for robot motion control systems enabling instantaneous reactions to unforeseen sensor events was introduced in a former publication. This previously proposed class of algorithms requires constant kinematic motion constraints, and this paper extends the approach by the usage of time-variant motion constraints, such that low-level trajectory parameters can...
When collaboration between human users and robots involves physical interaction, the importance of the safety issue arises. We propose a method to transfer to robots several tasks demonstrated by the user through kinesthetic teaching and subsequently learned using a weighted combination of dynamical systems (DS). The approach used to encode the desired skills ensures a safe robot behavior during the...
We present an approach for collision avoidance for mobile robots that takes into account acceleration constraints. We discuss both the case of navigating a single robot among moving obstacles, and the case of multiple robots reciprocally avoiding collisions with each other while navigating a common workspace. Inspired by the concept of velocity obstacles [3], we introduce the acceleration-velocity...
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