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Human-robot interaction is necessary in remote teleoperation of robot manipulators, especially when the environment is unstructured and objects are unfamiliar. In traditional interactive methods using contacting mechanical devices, the motion of the operator is restricted and unnatural. While camera-based tracking has the benefit of being non-contact, previous vision-based approaches have used only...
A mobile robot based on novel line-walking mechanism is proposed for inspecting power transmission lines. The novel mechanism enables the centroid of the robot to concentrate on the hip joint to minimize the drive torque of the hip joint and keep the robot stable when only on leg is hung on line. After reviewing of the line-walking mechanism, power line inspection robot is described in detail. The...
The safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements have been encountered owing to the absence of compliance in robot actuators. Pneumatic muscle is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this study, joint compliance...
We present a novel combination of motion planning techniques to compute motion plans for robotic arms. We compute plans that move the arm as close as possible to the goal region using sampling-based planning and then switch to a trajectory optimization technique for the last few centimeters necessary to reach the goal region. This combination allows fast computation and safe execution of motion plans...
This paper considers a shortcutting heuristic to smooth jerky trajectories for many-DOF robot manipulators subject to collision constraints, velocity bounds, and acceleration bounds. The heuristic repeatedly picks two points on the trajectory and attempts to replace the intermediate trajectory with a shorter, collision-free segment. Here, we construct segments that interpolate between endpoints with...
This paper describes a novel method of path following for wheeled mobile robots. A number of virtual manipulators mounted on the robot are used to make the robot poses which satisfy both of path following and collision avoidance. This method can calculate robot poses by using a single jacobi matrix despite of coping with several manipulators. We also present about the method of motion stabilization...
Real-time obstacle avoidance for redundant robot is always of consequence in the field of robot research. According to the mechanism of the human arm movement in obstacle avoidance, an artificial safety zone around the obstacle in the operational space is defined. Based on the artificial safety zone, a unique technique of real-time collision avoidance for position controlled robot is proposed in this...
A 6-degree-of-freedom rigid robot arm and its throwing motion generation is described in this paper. The trajectories for the joint variables are generated off-line as a cubic spline obtained using general constrained nonlinear optimization, taking into consideration limitations (position, speed, acceleration and jerk) of the joint actuators, and the current limit of the whole structure. The obtained...
Rescue operation is one of the most effective applications of snake-like robots. However, previous rescue systems that use robots have a significant problem that is shortage of professional operators. In this paper, to solve this problem, we focus on volunteer non-professional staffs as operators of the rescue robots, and propose new snake-like robot which can be controlled easily by using simple...
Motion planning for robots with many degrees of freedom (DoF) is a generally unsolved problem in the robotics context. In this work an approach for trajectory planning is presented, which takes account of the different kinematic parts of a humanoid robot. Since not all joints of the robot are important for different planning phases, the RRT-based planner is able to adapt the number of DoF on the fly...
In this paper, three-dimensional caging by a multifingered hand (3D multifingered caging) is studied. Caging is a method of object constraining in which robot bodies surround an object and make it inescapable from the ldquocagerdquo composed of the robot bodies. In 3D multifingered caging, position-controlled robot hands can constrain objects and transport them, and force control is not necessary...
We present a method that allows automatic reaction of a robot to physical collisions, while preserving as much as possible the execution of a Cartesian task for which the robot is kinematically redundant. The work is motivated by human-robot interaction scenarios, where ensuring safety is of primary concern whereas preserving task performance is an appealing secondary goal. Unexpected collisions may...
Motivated toward dynamic rolling control of hybrid walking-climbing-rolling robots, this paper presents a greedy graph search method using two different metrics for purposes of joint path planning for a planar three degree of freedom hybrid mobility robot. Given an initial configuration and a desired net center of gravity location for the robot, the graph search finds joint paths that relocate the...
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