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Manipulation of beacons is a method of Human-Swarm Interaction (HSI) of relative ease to implement, especially for computer simulated environments. This paper focuses on doing an in depth analysis of an implementation of attractor and repulsor fields and determining its advantages and disadvantages through experimental means. The results give an optimistic view of the method: the learning curve is...
This paper aims to develop the motion loading system taking into account the variable control impedance and human reactions. In the motion saving phase, a four channel bilateral controller with a micro-vibration is utilized for the purpose of obtaining not only position and force responses to human motion but also the human impedance. In the motion loading phase, the hybrid angle and the human impedance...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers...
Particle swarm optimization (PSO) is a well-known metaheuristic and population based optimization algorithm. PSO has been used in many science and engineering applications. One of the examples include as a source searching algorithm in swarm robotics. In general, PSO searching performance is determined by its parameters include inertia weight and acceleration coefficients. In this paper, a comparison...
In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the...
This paper focuses on the control system design for a wearable power assist device which provides force/torque support for people who are doing physically demanding tasks. The device is actuated by the McKibben artificial muscle. The McKibben actuator is know to exhibit high nonlinearity between the supply pressure and the contractile length, and it is basically difficult to design a high performance...
A social robot has to ascertain the personality of the human interacting with it through verbal or non-verbal communication. While existing literature focuses on facial feature recognition for non-verbal communication, we propose using handshake patterns to classify the personality of the concerned human. Due to the largely random nature of the gestures in handshakes, general pattern recognition methods...
The reducing of energy consumption for transportation and manipulation of industrial objects is a topical issue. The objects of manipulation are gripped with the use of industrial robot and transported from one position to another. In gripping devices, the lifting force is created on the basis of the aerodynamic effect of lifting appearing due to the use of compressed air. The efficiency of functioning...
This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and...
In this paper, we propose a filter structure to satisfy velocity and acceleration limitations for arbitrary input signals. The shape of step signals is sometimes converted into trapezoidal wave in order to satisfy velocity limit in FA field. Then we can prevent an overload for the robot. In some cases, physical protection of equipments, safety and ride quality are achieved with limitation of input...
For the optimal robot-arm multi-point manufacturing sequence (RAMMS) problem, the best sequence needs to be explored to efficiently visit each task point just once and return back to the start one finally. It is the known travel salesman problem (TSP). Furthermore, in each task point, the optimal joint configuration is also a difficult problem because it involves an inverse kinematics (IK) computation...
Nowadays, when designing a bird-like flapping wing robot, single-section or two-foldable-section wing type is normally adopted to mimic the flexible wing, which is hard to simulate a real bird's flapping fly or gain well aerodynamic performance. In present work, a new flexible flapping wing vehicle, of which the flexibility of the wing is more authentic, is designed firstly, then the kinematic model...
The authors showed that an underactuated locomotion robot can generate a stable forward motion on downhill by utilizing the effects of sliding and wobbling. It was, however, difficult to generate forward motion on level surface. Our next research objective is therefore achieving stable motion generation on slippery level surface. It is being developed that a new type of the robot utilizing wobbling...
The identification procedure specially designed for an n-link inverted pendulum on a cart is presented. By the Lagrangian mechanics, the mathematical model of the n-link inverted pendulum is established initially. To fully model the system, the standard dynamic parameters which are some algebraic functions of geometric, inertial, and friction parameters are introduced. Because the dynamic model of...
The paper reports on the energy consumption of smooth trajectories for stop-and-go navigation of aerial robots. We consider a decimeter-scale quadrotor tasked to travel on straight line, constant height trajectories from an initial hover configuration to another hover configuration. We investigate three prominent types of smooth trajectories (minimum acceleration, minimum jerk and minimum snap), and...
We present a modified trajectory tracking controller based on a novel re-parameterization of the reference trajectory with respect to an independent variable whose dynamics can be controlled. A hybrid controller is designed so that the dynamics of both the robot and the reference parameter can respond to disturbances. The proposed hybrid controller is more robust to large disturbances, and hence is...
This paper proposes a novel point-to-point iterative learning control (ILC) algorithm for high performance trajectory tracking applications. Based on a successive project formulation of the point-to-point ILC design problem, two point-to-point ILC design algorithms are derived: one algorithm reCovers the norm optimal point to point ILC algorithm with a desirable physical property of converging to...
A wheeled inverted pendulum cannot balance without control, and it is important to save motion in a control range. In some situations, however, to avoid a collision, the maximum acceleration and deceleration must be applied. A motion-planning method for a wheeled inverted pendulum (“body” hereafter)-which uses full performance from all attitudes under hardware constraints-was developed. The developed...
Finding the Time-Optimal Parameterization of a Path (TOPP) subject to second-order constraints (e.g. acceleration, torque, contact stability, etc.) is an important and well-studied problem in robotics. In comparison, TOPP subject to third-order constraints (e.g. jerk, torque rate, etc.) has received far less attention and remains largely open. In this paper, we investigate the structure of the TOPP...
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