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In order to define meaningful limit values for human-robot collisions, we have come to the conclusion that only comprehensive collision tests with live test subjects will successfully lead to verified limit values. A literature survey about current approaches for limiting the consequences of hazardous contacts between humans and moving machines (including robots) showed that limit values are often...
A stabilization and control technique developed for steering swarms of unmanned micro aerial vehicles is proposed in this paper. The presented approach based on a visual relative localization of swarm particles is designed for utilization of multi-robot teams in real-world dynamic environments. The core of the swarming behaviour is inspired by Reynold's BOID model proposed for 2D simulations of schooling...
In cell manipulation with optical tweezers, it is required that the cell must be located within the optical trap. Due to the lack of a control technique that can automatically locate the cell within the optical trap while controlling the cell motion, the cell will easily escape from the optical trap and hence the manipulation task is failed. Therefore, development of a unified controller that can...
In this paper we present an experimental study on real-time collision avoidance with potential fields that are based on 3D point cloud data and processed on the Graphics Processing Unit (GPU). The virtual forces from the potential fields serve two purposes. First, they are used for changing the reference trajectory. Second they are projected to and applied on torque control level for generating according...
In this paper, the problem of path planning for needle insertion into a soft tissue is considered. A new method is proposed which does not have the disadvantage and difficulties of the previous methods, namely disability in modeling short distances or 3D path planning complexities. In the proposed method by dividing the primary path into short plane paths and assuming a point near each obstacle as...
Simulation of crowd behaviors is a widely discussed topic for over a decade for computer games, architecture and entertainment. The most important thing is that agents should execute the human like behaviors in real life scenarios. This situation becomes very complex with dense crowds. Our proposed Realistic Behavior Agent Simulation (RBAS) model simulates the agents from the knowledge of empirical...
This paper deals with an optimal landing motion of a 4-link legged robot that minimizes the impact force at the contact point and the joint torques necessary during the motion. The cost function for optimization is given as the weighted sum of the one for impact force and the one for joint torques. While the configuration where the leg is bent is advantageous in reducing the impact force, the configuration...
The paper presents a method of infrared communication link maintaining for multiple mobile microrobots, so as to enlarge their whole inspection range. A carrier sense multiple access protocol of infrared communication is employed. A motion control model based on virtual spring-damper system is established to avoid communication network splitting by monitoring infrared link quantity information among...
Opening and navigating through doors remains a challenging problem, particularly in cluttered environments and for spring-loaded doors. Passing through doors, especially spring-loaded doors, requires making and breaking contacts with the door and preventing the door from closing while passing through. In this work, we present a planning framework that handles non-spring and spring-loaded doors, in...
In this paper we introduce a collision avoidance control strategy for groups of mobile robots moving in a three-dimensional environment, whose dynamics are described according to the Lagrangian model. The proposed strategy is based on the use of gyroscopic forces, that ensure obstacle avoidance without interfering with the convergence properties of the multi-robot system's desired control law. Moreover,...
Based on the artificial potential field, an approach is proposed for the formation control of multiple robot fishes, which overcomes the disadvantage that the collision avoidance is not satisfactorily solved in the leader-follower framework. In accessible areas, the formation of multiple robot fishes is maintained in the moving to target point by controlling the distance and angle between follower...
This paper presents a methodology to navigate a micro aerial vehicle (MAV) flying through a cluttered and unknown environment. Due to the limited payload and power availability of the MAV platform, the guidance algorithm should be simple enough to be performed onboard with low computation and power consumption. The approach proposed here employs a miniature scanning laser rangefinder as a sensor to...
This paper presents a collision force suppression mechanism that is installed in the shoulder and elbow joints of a 5-DOF manipulator. The collision suppression mechanism consists of an air cushion bag, a transmission rack, a clutch gear and two compression springs. If the manipulator collides with an object or a human when the end-effector of the manipulator follows a target trajectory, the manipulator...
In swarm robot systems, it is very important to maintain the network connectivity for cooperative behavior between robots. This paper deals with the behavior control algorithm of the swarm robots for maintaining network connectivity. To do this, we divide swarm robot by search-robot, base-robot, and relay-robot. Using these robots, we propose behavior control algorithm for maintaining network connectivity...
This paper introduce about graph-search based global path planning on uneven elevation maps. An elevation map is an efficient and popular representation for 3-D terrains due to its easy manipulation by a computer. On the elevation map, we investigate three different optimal paths in the aspects of travel distance, travel time, and energy consumption. A distance/time-optimal path is derived by simple...
For robots to operate in human environments, they are required to react safely to unexpected changes in the work area. However, existing manipulation task planning methods take more than several seconds or minutes to update their solutions when environmental changes are recognized. Furthermore, the computation time exponentially increases in case of highly complex structures such as humanoid robots...
In order for robots to safely move in human-robot coexisting environment, they must be able to predict their surrounding people's behavior. In this study, a pedestrian behavior model that produces humanlike behavior was developed. The model takes into account the pedestrian's intention. Based on the intention, the model pedestrian sets its subgoal and moves toward the subgoal according to virtual...
This paper presents the design of the lightweight BioRob manipulator with spring-loaded tendon-driven actuation developed for safe physical human-robot interaction. The safety of the manipulator is analyzed by an analytical worst-case estimation of impact and clamping forces in the absence of collision detection. As intrinsic joint compliance can pose a threat by storing energy, a safety evaluation...
This paper presents a novel control architecture for enhanced operator awareness and improved safety in telesurgical systems. We introduce an intermediate layer between the master and slave sides which allows us to modify the slave motion for safety and the force feedback for operator awareness. The intermediate layer is then designed with a performance objective for the specific task at hand. The...
Trotting on irregular terrain is a difficult task as undesirable impulse force by collision between robot foot and an obstacle makes the robot unstable. To cope with the problem, in this paper, variable impedance control algorithm changing leg impedance parameters according to the change of finite trot states is proposed. The state of quadruped trot is divided into five phases and the impedance parameters...
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