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Underwater mobile sensor node localization is a key enabling technology for several subsea missions. A novel scalable underwater localization scheme, called Best Suitable Localization Algorithm (BLSA), is proposed to dynamically fuse multiple position estimates of sensor nodes using fuzzy logic, aiming at improving localization accuracy and availability along the whole trajectory in missions. Numerical...
Food is important to human for supporting our daily lives. Researchers can perceive food properties through investigation of mastication process. The investigation of in-vivo mastication can be time consuming and inefficient as a panel of volunteers is required. Robotic devices can assist as a platform to carry in-vitro simulation of mastication. This paper proposes a plan of developing a masticatory...
This paper presents an external hybrid force/pose controller for a robotic manipulator using a cascade scheme with two control loops. In the outer loop there is a force controller that acts as a perturbation for the position reference, whose purpose is to regulate the force applied by the end-effector during the interaction; the inner loop, which is used to control the end-effector pose (i.e., position...
The paper presents a new methodology to solve the actuation and modelling problems of a soft-bodied swallowing robot (SR), developed for human swallow evaluation. To solve the actuation problem, a central pattern generator (CPG) based novel actuation scheme is developed and implemented to generate peristalsis in the robot. Machine learning based technique is used to determine the governing dynamics...
Generating a walking pattern for a legged robot is not an easy task. In the literature there are different proposed approaches: mathematical, model-based and bioinspired methods in order to generate such walking patterns for legged robots. In this article we present the K3P algorithm, conceived to command a robotic legged platform to travel along an arbitrary trajectory, using the velocity of the...
We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77% reduction in collisions over the straight-line local planner...
An approach of a new methodology for skills transfer from machine to human is proposed in this research. This methodology transmits a haptic feed-back using vibrotactile perception to transfer motor skills using a parallel planar robot and virtual reality environments. During the experimentation, the participants tried to learn a specific motion trajectory given by the system. During the process,...
Collaboration between heterogeneous robots can greatly improve the overall robot system by obtaining capabilities that each single robot is unable to achieve. In this paper, we present a collaborative robot system designed for search and rescue missions in an unknown environment with obstacles. The system consists of an aerial robot and a ground robot. An extended Kalman filter (EKF) is used for...
This paper proposes a basic near-environmental recognition framework based on groping for risk-tolerance disaster response robot (DRR). In extreme disaster sites, including high radiation and heavy smog, external sensors such as cameras and laser range finders do not work properly, and such sensors may be broken in accidents in the tasks. It is hoped that DRRs can continue to perform tasks, even if...
We present a quadrotor system capable of autonomously landing on a moving platform using only onboard sensing and computing. We rely on state-of-the-art computer vision algorithms, multi-sensor fusion for localization of the robot, detection and motion estimation of the moving platform, and path planning for fully autonomous navigation. Our system does not require any external infrastructure, such...
An experimental evaluation of a two loop coordinated control strategy of a robot guided shape memory alloy (SMA) actuated flexible needle system is presented in this paper. The control of the flexible needle is deployed as the inner loop and the robot driving the needle in correspondence with the needle's movement is deployed as the outer loop. These two control loops are coordinated in such a way...
We investigate the effect of dominant and submissive movement strategies and a movement cue in a human-robot cooperation scenario on perceived predictability and trust. Four different movement strategies in proximal cooperation between a robot manipulator and a human participant were tested in an experiment in which participants had to arrange small objects in a shared workspace working on the same...
Small/micro Unmanned Aerial Systems (UAVs) require the ability to operate with constraints of a diverse, automated airspace where obstacle telemetry is denied. This paper proposes a novel Sense, Detect and Avoid (SDA) algorithm with inherit resilience to sensor uncertainty. This is achieved through the interval geometric formulation of the avoidance problem, which by the use of interval analysis,...
Mobile robotics became an important knowledge area. Led by the technological advances, the life spectancy increases, rising the senior citizens ratio. At the same hand, the cities growth turn on a more intense and dangerous traffic. Autonomous mobile robots can help in these situations, but still have a jeopardized application. In this sense, this work presents a contribution to development of nonholonomic...
We introduce a novel online replanning method for robotic information gathering by Unmanned Aerial Vehicles (UAVs) called Reactive Dubins Traveling Salesman Problem (RDTSP). The considered task is the following: a set of target locations are to be visited by the robot. From an initial information gathering plan, obtained as an offline solution of either the Dubins Traveling Salesman Problem (DTSP)...
This paper presents a method to teach a humanoid robot arm a new trajectory by using human-robot shared control. The robot trajectory is first taught by using the technique of programming by demonstration (PbD). If the environment changes for the learned trajectory, a user can intervene and modify the trajectory by using the proposed control method. We propose a method to modify part of the trajectory...
Indoor applications based on vehicular robotics require accurate, reliable and efficient localisation. In the absence of a GPS signal, an increasingly popular solution is based on fusing information from a dead reckoning system that utilises on-board sensors with absolute position data extracted from the environment. In the application considered in this paper, the information on absolute position...
The following paper deals with the topic of humanrobot- collaboration in industrial applications. In the first part different research results and developments out of the industry concerning human-robot-collaboration are summarized. Aspects like the influence of the trajectory, facial expressions and gestures on collaboration or the latest collaborative robots, safe HRC-suitable end-of-arm-tools and...
A lot of research about using animal walking patterns on quadruped robots such as cheetah, cats and others. The big problem is about how to make this fourlegged robot run fast and maintain stability. The instability of the robot makes visual sensors such as Camera, Thermal sensor and various sensors used to get significant disturbance. With this problem, this paper made a system in the form of Walking...
Timeseries sensor data processing is indispensable for system monitoring. Working with autonomous vehicles requires mechanisms that provide insightful information about the status of a mission. In a setting where time and resources are limited, trajectory classification plays a vital role in mission monitoring and failure detection. In this context, we use navigational data to interpret trajectory...
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