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There is a lot of experimental evidence that collision avoidance is among the main driving principles in pedestrian dynamics: individuals actively anticipate the future to predict a possible collision time and adjust their velocity accordingly, see [1]. At the same time they show no intention to change their direction when walking close to each other in the same direction. In this paper we propose...
This paper describes a novel approach for mobile robot path planning in known dynamic environments. It is the Particle Swarm Optimization Dynamic Variable Speed Force Field (PSO-DVSF2) based on the Force Field (F2) approach proposed by D. Wang et al [5]. The basic concept of PSO-DVSF2 is to generate a continually changing parameterised Force Field for the robot based on the characteristics of all...
In recent years human-robot collision safety has received considerable attention. Thus, various collision detection algorithms have been proposed to ensure human-robot collision safety, and these algorithms are usually model-based. However, the dynamic model of a robot arm is uncertain or unknown in cases where the arm performs a task with various objects or tools. In this paper, we propose a collision...
We present a robotic system that can perform difficult reorientation tasks like flipping. The system uses a gripping hand and takes the advantages of external surfaces. It is composed by three components. In grasp planning, the system finds the grasps that fulfill force closure and resist high external wrenches. In placement planning, the system computes the stable placements of an object on the table...
This paper presents a new approach to improve the remote navigation of a teleoperated demolition machine. To improve navigation usability of the teleoperated system the following topics will be covered: obstacle avoidance, wall alignment, and machine optimal positioning for demolition operations. In order to enhance the ability of the operator to navigate in a cluttered environment, a Haptic-Assisted...
In this paper, is studied the behaviour of a two wired hammerhead crane while avoiding obstacle collision. Since operators must chose between to hang the load over the obstacle or to follow a trajectory to surround the obstacle, we show how this crane design reduce in both situations the oscillations of the load.
Robot escorting is a challenging task that can be applied to protect a target entity, capturing and to manage leader-follower formations. A linear combination of minimum distance maintenance and area coverage as an obstacle avoidance procedure was shown as an effective tool to escort with a simulated omni directional robot, which can deal easily with the constantly changing outputs generated by this...
Rapid separation and transfer of target cells from heterogeneous mixture to desired region have become a key issue in many biomedical applications. In this paper, we propose an approach to high speed cell transfer for sorting rare cells from a small population of samples accurately using a robotic manipulation system equipped with optical tweezers. A novel switching geometrical model is established...
The shortage of physicians afflicting developed countries encourages engineers and doctors to collaborate towards the development of telemedicine. In particular, robotic systems have the potential for helping doctors making examination. A very common examination that can be the goal of a robotic system is palpation. Most of the robotics systems that have been developed for palpation present interesting...
In order to solve the incompatibility between real-time property and realism, we introduce a method for 3D rock fracturing simulation based on the Havok Physical Engine in this paper. Firstly, during the model preprocessing stage, the seed points are inserted inside the model and the 3D Voronoi fragments are generated as many as the seed points. At the same time, the breakable linear constraints between...
In this paper, we discuss the possibility and fundamental properties of passive bipedal walking on a slippery downhill. First, we develop a mathematical model of the passive compass-like biped robot that contacts with the ground incorporating sliding friction which is specified as the Coulomb model. Second, we discuss the possibility of instantaneous stance-leg exchange through mathematical analysis...
This paper presents a novel nonlinear compliant link. It has two major properties: bi-directionality and stiffening compliance. Bi-directionality means it can be stretched and compressed, and is realized by antagonistic arrangement of an extension spring and a compression spring. Stiffening compliance means it becomes stiffer as it is stretched, and is realized by asymmetric geometry. The links are...
In this paper, we propose a physically meaningful energy-related safety indicator for robots sharing their workspace with humans. Based on this indicator, a safety criterion accounting for the breaking capabilities of the robot is included as a quadratic constraint in the control algorithm. This constraint is modulated by the distance between the human operator and the end-effector of the robot. The...
In the field of robots' obstacle avoidance and navigation, indirect contact sensors such as visual, ultrasonic and infrared detection are widely used. However, the performance of these sensors is always influenced by the severe environment, especially under the dark, dense fog, underwater conditions. The obstacle avoidance robot based on tactile sensor is proposed in this paper to realize the autonomous...
In this paper, the potential field principle is applied to several UAVs (Unmanned Aerial Vehicles) for optimal path planning. Each UAV has its own goals and it is used the attractive potential field to reach the goals. On the contrary, each UAV is considered as obstacle for other UAVs that must be avoided. In this research, there are two types of obstacles, i.e the static and dynamic. The repulsive...
Robotic technology has become more interested field to safely interact with the human. Therefore, there is a need to continuously improve the mathematical models and flexibility of robot arm when subjected to a collision force in order to reduce environmental impact, but maintain very high stiffness otherwise. To implement these requirements, adjustable compliant mechanism (ACM), which consists of...
Variable-rate tree spraying is one of the most important technique of precision agriculture. This paper presented an interactive virtual tree spraying method based on particle system, which gain fine control flexible through parameters such as the emitter position and pitch angle, atomizing particle, atomizing anger and spray penetration depth. We proposed a 2-hierarchy collision detection algorithm...
This paper proposes a new intuitive technique for the haptic teleoperation of unmanned aerial vehicles (UAVs). The UAV is controlled using joystick's velocity commands, and the haptic feedback is a repelling force proportional to the UAV's velocity. Our proposed method that entails sensing the UAV velocity and commanding it using velocity based gestures proved to be an easier and more intuitive method...
This work solves the obstacle avoidance problem extending the Potential Field (PF) method for a mobile robot. The usual definition of the PF has been modified to have a field which is continuous everywhere. It is shown that the system has an attracting equilibrium at the target point, repelling equilibriums in the centers of the obstacles and saddle points on the borders. Those unstable equilibriums...
In this paper we present a prototype system that aids the operator of a Personal Air Vehicle (PAV) by actively monitoring vehicle surroundings and providing autonomous control inputs for obstacle avoidance. The prototype is developed for a Personal Air Transportation System (PATS) that will enable human operators with low level of technical knowledge to use aerial vehicles for a day-to-day commute...
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