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Most of the works use sensor to recognize human gesture and teleoperate robot in real time for different usage. One of the purpose is social learning which human learn behavior and take place in the social context. Our research aims to let user create customizable gesture and motion for proper condition. This paper presented the method to replicates human gesture for robot imitation. If robot can...
This paper studies human-swarm interaction performance by evaluating both the neurophysiological and behavioral characteristics of human subjects. By utilizing our unique test facility, we conduct a series of real-world-scenario-inspired tasks in which subjects are asked to guide a group of ground robots with various configurations to arrive at a sequence of randomly assigned targets. A range of neurophysiological...
This paper presents an implementation and an experimental validation of a virtual structure and a leader-follower flexible formation tracking controllers for car-like non-holonomic mobile robots with velocity and steering controllers in the loops. The formations are flexible in the sense that their formation configurations are defined based on curvilinear longitudinal and lateral relative separations...
This paper investigates the leader-follower tracking control problem for non-holonomic mobile robots based on fuzzy controller based approach. The trajectory tracking control for a single mobile robot is extended to the formation control for multiple mobile robots. This paper proposes for enhancement the follower performance, interval fuzzy type-2 controller is used. By taking the simulation and simple...
Iterative learning control (ILC) is a high performance control technique for systems operating in a repetitive manner. A novel design methodology is developed in this paper to incorporate optimal tracking time allocation within the point-to-point ILC framework for discrete time systems. This leads to significant performance improvements compared to fixed time points (e.g. energy reduction). An optimization...
This paper presents a real time hybrid 2D position and orientation tracking system developed for an upper limb rehabilitation robot. Designed to work on a table-top, the robot is to enable home-based upper-limb rehabilitative exercise for stroke patients. Estimates of the robot's position are computed by fusing data from two tracking systems, each utilizing a different sensor type: laser optical sensors...
In neuro-rehabilitation after stroke, the conventional constrained induced movement therapy (CIMT) has been well-accepted. Existing bilateral trainings are mostly on mirrored symmetrical motion. However, complementary bilateral movements are dominantly involved in activities of daily living (ADLs), and functional bilateral therapies may bring better skill transfer from trainings to daily life. Neurophysiological...
Robot-assisted needle insertion technology is now widely used in minimally invasive surgeries. The success of these surgeries highly depends on the accuracy of the position and orientation estimation of the needle tip. In this paper, we proposed an optical tracker based registration method for the marker-robot-needle tip registration in a robot-assisted needle insertion surgery. The method consists...
Robotic image-guided micromanipulation contributes towards the ease of operation, speed, accuracy, and repeatability in cell manipulation. However, such technology is not fully exploited because of the challenges in the integration of robotic modules with existing microscope systems, and the difficulty in incorporating robot assistance seamlessly into the workflow. In this paper, we propose a vision-based...
This paper describes the implementation, demonstration and evaluation of a variety of autonomous, vision-guided manipulation capabilities, using a dual-arm Baxter robot. Initially, symmetric coordinated bi-manual manipulation based on kinematic tracking algorithm was implemented on the robot to enable a master-slave manipulation system. We demonstrate the efficacy of this approach with a human-robot...
This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the planned path guarantees the safety of users. According to Lyapunov theory, the controller is designed...
This paper presents a design and stability analysis of a crawler-type pipeline robot which has the radial adjustment ability and can adapt to the changing of pipe diameter, therefore the environment adaptability of the robot is improved. To analysis the motion stability of the robot, the posture model of the robot that works in different pipes, including elbow and straight pipe are established, some...
In this paper, we need to detect the 3 axes position of the swimming fish robot in order to implement the aquarium fish underwater robot world. And, it implements positional control of the 3axes trajectory path for fish robot. The applied robot was verified the performance though the certificated fields test. It was satisfied the excellent performance such as driving force, durability and water resistance...
This paper addresses the formation tracking control and optimal selection of control design parameters for a tractor-trailer omni-directional type robotic system with on-axle hitching. We design a sliding mode controller incorporating the dynamics of the system to drive the tractor robot to track a desired trajectory and the trailer robot to maintain a desired orientation with respect to the tractor...
A wheel-track hybrid mobile robot with multimotion modes is designed. It is composed of a robot central body, four driving mechanisms, four independent track arms, two differential wheels, two guide wheels and so on. According to different environments, it can switch between the pure wheel mode and the pure track mode. A stability pyramid is defined by using a quasi-static model. The process of climbing...
This paper discusses the practical implementation of a flatness based control for a flexible joint robot arm. Using differential flatness theory, reference trajectories are generated for a flexible joint robot and then a tracking controller is implemented. The vibrations experienced by the robot arm are sufficiently damped and nonminimum phase behaviour is eliminated. The control shows fast transcient...
Jointed arm robots inherit a vast number of beneficial features like flexibility of movement and repeatability in combination with low investment costs. However, one main drawback, which most often disqualifies these robots for tasks with high accuracy requirements, is their low absolute accuracy. Suitable methods to overcome this problem belong to the field of visual servoing. In this context a 6D-pose...
In this paper, a coordinated motion of two types of heterogeneous robots, namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. The UGV plays the role of a leader for the UAV. While UGV tracks a predefined geometric path, the UAV is supposed to track the UGV. A robust controller based on integral sliding mode is designed to solve the tracking problem in the presence...
The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios. In this paper, we introduce a distributed algorithm for 3-D plume tracking using a system of ground and aerial robots in formation. We propose an algorithm that takes advantage of...
This paper introduces the design and experiments of a gas tracking algorithm, named a circular movement algorithm, which is for natural indoor environment without a strong and constant wind. A graph of gas concentration shows tumultuous flow under the condition [8]. To solve the turbulent gas concentration problem, we defined cumulative-gas concentration (CGC) value to compute gradient of gas concentration...
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