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Training home robots to behave like human can help people with their daily chores and repetitive tasks. In this paper, we present Imirok, a system to remotely control robotic arms by user motion using low-cost, off-the-shelf mobile devices and webcam. The motion tracking algorithm detects user motion in real time, without classifier training or predefined action sets. Experimental results show that...
The reproduction of the movements of a ship by automated platforms, without the use of sensors providing exact data related to the numeric variables involved, is a non-trivial matter. The creation of an artificial vision system that can follow the cadence of said ship, in six axes of freedom, is the goal of this research. Considering that a real time response is a requisite in this case, it was decided...
Total Knee/Hip Replacement(TKR/THR) is one of the most important orthopedic surgical techniques of this century. If patient's whole joint is damaged, an artificial joint (total hip/knee replacement surgery) can relieve patient's pain and help the patient get back normal activities. The goal for TKR/THR is to relieve the pain in the joint caused by the damage done to the cartilage. The surgeon will...
In this paper, a cable-driven spherical joint with angle feedback is proposed and the geometric numerical inverse kinematic algorithm is analyzed. Based on this, a new online control method is presented. In this method, the actual position of the spherical joint is calculated via inverse kinematics and the control error is compensated immediately. A experimental system with industrial PC (IPC) and...
In this paper, a friction compensation scheme for an X-Y robot's model linearization via a Recursive Model Free Controller (RMFC) is proposed. In this scheme, the RMFC uses only the robot's position measurement for feedback and doesn't require knowledge of electromechanical system's parameters, such as parameters in the friction model, rotor inertia, etc. The effectiveness and robustness of the proposed...
Comparing with hip and knee, the design of exoskeleton ankle is much more difficult due to the strict requirements of smaller space, better rigidity and heavier load. A novel ankle exoskeleton with 3-RPS (Revolute- Prismatic-Spherical) parallel mechanism, which can fully sustain the heavy load of human body with good dynamic and kinematic performances, has been conducted to assist rehabilitation of...
A force-force bilateral scheme based on neuro-fuzzy control was designed for a six DOF tele-robotic system. An open architecture controller for the six DOF tele-robotic system has been successfully implemented. Increased system bandwidth system can be achieved with the new embedded PUMA 760 and PUMA 260 controllers. Both the slave and master robot controllers comprise a PC running a real-time operating...
A humanoid robot generally has more than thirty DOFs to be controlled in real-time and needs to deal with information of multiple sensors such as encoders, force and moment sensors, inertial attitude sensors and vision sensors. Therefore an effective control system is crucial for the humanoid robot. In this paper, we propose a distributed computer system consisting of the online planning sub-system...
To perform long range navigation and desired task, AUV is required to describe internal system states and mutual transitions clearly and completely. The mission planning system developed in this project utilizes finite state machine model to analyze and depict AUVpsilas working flow and intricate control logic of all mission stages. An efficient path planning method resulting in a shortest tangent...
This paper reports current experiments conducted on HRP-2 based research on robot autonomy. The contribution of the paper is not focused on a specific area but its objective is to highlight the critical issues that had to be solved to allow the humanoid robot HRP-2 to understand and execute the order ldquogive me the purple ballrdquo in an autonomous way. Such an experiment requires: simple object...
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