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The behaviour of fractional-order systems with two agents is considered. In the paper, interactions between agents are defined like in Cucker-Smale models, where equations related to the position are the ordinary differential equations and velocities of agents are described by fractional differential equations. It allows us to take into account the memory that is included by taking the fractional-order,...
In a robotized ultrasound scanning system and more generally in any system which interacts with a human, the used control laws have to satisfy a safety of operating and functioning. Moreover these control laws have to guarantee a high precision in the medical gesture tracking, and especially within the framework of the ultrasound scanning, they assure the preservation of the ultrasound plane. The...
In this paper, a new method for learning robotic debarring process motor skills from human skill model is presented. The skill of a human expert is obtained by using the human skill model. This model is implemented in robot control systems that make robots imitate human skills in deburring process tasks. Based on deburring process, family of basic pattern motions are listed by identifying the movement...
This study describes the design and realization of passive dynamic control for a manipulator. The control strategy is based on the idea that the shift in position and posture of an end effector attributable to an external force is regarded as the deformation of a robot. Control methods are constructed from the standard linear solid model, which describes the combination of plastic and elastic deformation...
The present paper shows the work done on part of the design of a robotic humanoid arm, whose objective is to perform the transliteration of sound language, commonly used, to sign language, used by people with hearing disabilities. Through a dynamic analysis it has been obtained the necessary torque for each joint in the arm to perform the correct movement of the servo motors. In addition to this,...
In this study, the trajectory tracking control problem of a 2 degrees of freedom robotic orthosis for the lower limb rehabilitation is discussed. The robotic orthosis is actuated by a pair of self-made pneumatic artificial muscles (PAMs) in an antagonistic configuration. A second order plus dead time (SOPDT) linear model is chosen for describing the antagonistic actuator behavior. In order to enhance...
We conducted three experiments to discover the effect of a virtual agent's state transition on a user's eye gaze. Many previous studies showed that an agent's state transition affects a user's state. We focused on two kinds of transitions, the internal state transition and appearance state transition. In this research, we used a product recommendation virtual agent (PRVA) and aimed to discover the...
Object detection and tracking system has been developed by several researchers. This paper present algorithm for visual ball detection and ball estimation for goalie (goalkeeper) robot. The ball is captured by a camera with a fish-eye lens and processed for detection and tracking. Images from fish-eye camera are curved images. Images are thresholded to Hue Saturation Value (HSV). The system can predict...
Modelling nonverbal communication in robotics is a crucial issue to improve Human Robot interactions (HRI). Among several nonverbal behaviours we focus in this article on unintentional rhythmic entrainment and synchronization which has been proven to be highly important in intuitive and natural Human Human communication. Hence, the rising question is whether or no this phenomenon can be reproduced...
In this paper, we present the design of a shape-memory-alloy (SMA)-based compliant linear actuator [active cell (AC)] and the use of these in designing and modeling articulated meshes, which form the mechanical subsystem of a class of proposed modular active-cell robots (MACROs). The ACs are capable of undergoing ∼25% strain and groups of cells are connected via passively compliant nodes to produce...
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...
This paper describes a hanging work, which is one of the work related to cloth products. By using deformability and stretchability of clothes successfully, it is possible to efficiently proceed with a hanging work. We focus on cloth wrinkles and superimposed relation of objects, and propose a method to recognize the progress of hanging work on-line. In a detection processing of wrinkles, after using...
This paper presents a hybrid control which includes swing-up and balancing control for pendubot system - a two-link under-actuated robot. The parameters of the pendubot system are measured in the actual pendubot system built in the automation lab, University of Technology and Education HCM City. A hybrid controller which drives the system close to the equilibrium manifold and maintains the system...
For the purpose of enhancing compliance of robot joint, an impedance control strategy with new inner torque controller is proposed. Apparent inertia of the motor can be scaled down thanks to this new type of torque controller. Effects of different position (motor-side position θ and link-side position q) feedback strategies are explored through theoretical deviation, simulation and static stiffness...
This paper presents a decentralized optimal control method for modular and reconfigurable robots (MRRs) based on adaptive dynamic programming. First, the dynamic model of MRRs is formulated by using the Newton-Euler iterative algorithm, and then the state space description is given. Second, the optimal control policy of the MRRs system is obtained based on the policy iteration algorithm, which is...
Based on the working principle of the electrohydraulic proportional control system of the working device of the demolition robot, the co-simulation model of the system is established by means of ADAMS and MATLAB. The study of the dynamic characteristics of the system was done, with applying traditional PID control strategy and sliding mode variable structure control respectively, considering the change...
The research on heart cells have attracted broad attention for the development of either heart disease therapy or muscle cell-based actuation for bio-syncretic robots. In order to study the mechanism and dynamics of beating activity of cardiomyocytes, many research methods have been proposed, such as the measurement of contractility and action potential of the cells. However, few of them has focused...
Self-balancing two-wheeled robots (TWRs) have attracted significant attentions over the last decade around the world. However, the traditional controller performs worse when TWR is driven under severe traveling conditions like steep slopes, speed bumps and other uneven terrains on practical pavement, which leads to potential security issues. This paper takes uneven terrains into consideration in system...
In this work, we consider a testbed for a robotic astronomical 0.5-m. telescope mount. We focus on the problem of identification uncertainty that cannot be obtained from analytical consideration (i.e. friction phenomena). Thus, we use a recursive least-squares algorithm for identification values of friction terms. Since the required signals cannot be obtained directly from the object (or they are...
This paper presents the design and control of a biomimetic knee joint for biped robots. The robotic knee joint driven by pneumatic artificial muscles is designed by imitating the structure of the human knee. It has desirable characteristics similar with human knee joint including joint compliance, changeable instantaneous center of rotation, as well as large range of joint motion. In order to model...
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