The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The paper presents the construction of a rolling robot able to move in the horizontal plane due to an original structure of a regular dodecahedron shape with twelve extending legs disposed in a radial manner in the centers of its faces. A mathematical model is developed and the robot functioning is simulated. Simulation results were validated by preliminary testing. A control algorithm developed by...
For the interpretation of a visual scene, it is important for a robotic system to pay attention to the objects in the scene and segment them from their background. We focus on the segmentation of previously unseen objects in unknown scenes. The attention model therefore needs to be bottom-up and context-free. In this paper, we propose the use of symmetry, one of the Gestalt principles for figure-ground...
This paper proposes an output based adaptive iterative learning control (OBAILC) scheme for robotic systems. The idea of using OBAILC is to improve the tracking performance iteratively with relatively smaller values of observer-controller gains by assuming that the system tracks the same task iteratively. The design combines proportional-derivative controller with an adaptive term that iteratively...
Through reducing the boundary layer, higher control accuracy can be achieved when applying robust control techniques. However, chattering phenomenon may occur. This paper presents a nonlinear robust controller design in which a dynamic boundary layer is introduced. Theoretical results are presented for characterizing the tracking performance. In particular, the tracking error is forced to converge...
Internet based teaching and learning systems are ready for the connection with engineering systems at companies and teaching purposed laboratories. In order to make this connection possible, organized descriptions and functionalities are being developed for computer based course programs in engineering. This paper discusses several selected issues from this area. After an introduction about the cited...
High performance control of robotic systems, including the new generation of humanoid, assistive and entertainment robots, requires adequate knowledge of the dynamics of the system. This can be problematic in the presence of modeling uncertainties as the performance of classical, model-based controllers is highly dependant upon accurate knowledge of the system. In addition, future robotic systems...
In state of the art robotics, high positioning accuracy is achieved by using solid and stiff components as well as powerful drive units which have no backlash. In contrast, human beings are able to achieve remarkable high positioning accuracy despite of low mass, low power consumption and relatively simple mechanics. One approach to obtain this accuracy is to temporarily create additional supporting...
Stochastic self-reconfiguring robots are modular robots that possess the ability to autonomously change the arrangement of their modules and do so through the use of non-deterministic processes. We present a concept for a robotic system in which the stochastic behavior of turbulent flow in a chamber is used during assembly and disassembly operations. The thermorheological properties of Pluronic® are...
Time-delay in sensor measurements can be a frequent cause of instability and performance degradation in a robotic system. In this paper, motion tracking of rigid manipulators in presence of constant and known delay in sensors is investigated. By using non-minimal model of a manipulator, a dynamically smooth controller based on the Linear Matrix Inequality (LMI) approach is proposed which guarantees...
This video summarizes a breakthrough in the emerging field of transmission line inspection and maintenance robots. Collaboration between electric utilities recently led to a robotic inspection of a large ocean inlet crossing transmission line, performed by LineScout Technology. Key challenges associated with the live line inspection and crossing of the suspension clamp are presented. Some of the findings...
We consider a navigation problem for a robot equipped with only a map, compass, and contact sensor. In addition to the limitations placed on sensing, we assume that there exists some bounded uncertainty on rotations of our robot, due to precision errors from the compass. We present an algorithm providing guaranteed transitions in the environment between certain pairs of points. The algorithm chains...
We present an integrated vision and robotic system that plays, and learns to play, simple physically-instantiated board games that are variants of TIC TAC TOE and HEXA-PAWN. We employ novel custom vision and robotic hardware designed specifically for this learning task. The game rules can be parametrically specified. Two independent computational agents alternate playing the two opponents with the...
In this paper, we discuss the issue of safety in robot-assisted fracture reduction. We define the hazards of robot-assisted fracture reduction and design safety control methods. Although a large reduction force is required to reduce femoral neck fractures, an unexpectedly large force produced by a robot may cause injury to the patient. We have designed two mechanical failsafe units and a software...
Manipulative operation of a target point inside a deformable object by a robotic system is necessary in many medical and industrial applications. However, this is a challenging problem because of the difficulty of imposing the motion of the target point by a finite number actuation points located at the boundary of the deformable object. In this paper, an approach towards positioning operation of...
Single-query sampling-based motion planners are an efficient class of algorithms widely used today to solve challenging motion planning problems. This paper exposes the common core of these planners and presents a tutorial for their implementation. A set of ideas extracted from algorithms existing in the literature is presented. In addition, lower level implementation details that are often skipped...
Impedance and Admittance Control are two distinct implementations of the same control goal. It is well known that their stability and performance properties are complementary. In this paper, we present a hybrid system approach, which incorporates Impedance and Admittance Control as two extreme cases of one family of controllers. This approach allows to continuously switch and interpolate between Impedance...
As robots become more pervasive in society, people will find themselves actively interacting with robots, and also rushing past them without any explicit interaction. People are able to maneuver in crowded situations by speeding up or slowing down to slip in between open pockets where people are not standing or walking. Our research focuses on this indirect bystander interaction. Scholtz defines a...
Today, robotic systems are bridging the gaps between global economy, social needs, and logistics focusing on sustainable development solutions. Everyday new robotic applications can be found in literature and media. Some of them are basically entertainment toys. Nevertheless, the great majority of them is used inside industries, performing several tasks (painting, welding, moving materials, etc.)...
Since each antibody has its unique physical chemical properties, optimal formulation for one antibody is likely not applicable for the others. To rapidly screen multiple antibody formulations, an automated system was constructed to perform sample preparation, testing, and data management. Using the automatic system, up to 500 liquid formulations can be prepared in deep well microplates and further...
This paper presents a new approach for controlling robotic hand or an individual robot by merely showing hand gestures in front of a camera. With the help of this technique one can pose a hand gesture in the vision range of a robot and corresponding to this notation, desired action is performed by the robotic system. Simple video camera is used for computer vision, which helps in monitoring gesture...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.