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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...
In this paper, the problem associated with accurate control of a four-wheel steering mobile robot following a path, while keeping different desired absolute orientations and ensuring different desired lateral deviations, is addressed thanks to a backstepping control strategy. In particular, the control of each steering angle is investigated through a new parallel steering approach based on an extended...
This paper is about Human Robot Motion (HRM), i.e. the study of how a robot should move among humans. This problem has often been solved by considering persons as moving obstacles, predicting their future trajectories and avoiding these trajectories. In contrast with such an approach, recent works have showed benefits of robots that can move and avoid collisions in a manner similar to persons, what...
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...
This paper investigates the problem of Teaching by Demonstration (TbD) on a KUKA lightweight robot (LBR). Motions are recorded by a human operator, and then the data is used to model a nonlinear system, i.e., the dynamic motor primitive (DMP). In order to learn from multiple demonstrations, Gaussian Mixture Models (GMM) are employed rather than using conventional Gaussian process for the evaluation...
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...
This paper presents an implementation and an experimental validation of a virtual structure and a leader-follower flexible formation tracking controllers for car-like non-holonomic mobile robots with velocity and steering controllers in the loops. The formations are flexible in the sense that their formation configurations are defined based on curvilinear longitudinal and lateral relative separations...
This paper presents a cascaded trajectory tracking controller and a control gains selection procedure for nonholonomic car-like wheeled mobile robots with steering and velocities controllers in the tracking control loops. The trajectory tracking controller enables stable tracking control of trajectories for the car-like mobile robots in the presence of the robot's velocity and steering control latencies...
The people that need rehabilitation have grown and have overwhelmed therapists therefore new technological advances are required to provide service to a larger population, also the cost is a factor to consider. Particularly, the people who has suffered and survive a stroke (cerebral sudden malfunction) usually need therapy to recover lost functions, such as neuromuscular coordination. In this work,...
In this paper an accuracy of local motion planning based on the generalized Campbell-Baker-Hausdorff-Dynkin formula was evaluated for a few nonholonomic robotic systems. For a given set of controls, an exact trajectory is computable via an integration of equations of motion. This reference trajectory is compared with with a trajectory based on shrinked versions of the gCBHD formula. An impact of controls...
Hybrid zero dynamics-based control is a promising framework for controlling underactuated biped robots and powered prosthetic legs. In this control paradigm, stable walking gaits are implicitly encoded in polynomial output functions of the robot configuration variables, which are to be zeroed via feedback. The biped output functions are parameterized by a suitable mechanical phasing variable whose...
The present research describes the design and implementation of a programming by demonstration algorithm, where data is taken from a human narrator and then processed and imitated by the social robot Nao. This has been done by the use of artificial neural networks and inverse kinematics algorithms, resulting in a 7.25% trajectory difference when comparing the instructor movements with the robot learned...
In this paper, the kinematics model of six-DOF manipulator is established by D-H parameter method, and the joint space method is used to carry out trajectory planning. Then, we use the Robotics Toolbox of Matlab to solve the inverse kinematics of each trajectory curve, the joint angle curves draw on the time axis exist local mutation, and then adopt the inverse kinematics method based on the fsolve...
Wheeled Robots (WRs) are widely used in many different contexts, and usually they are required to operate in partial or total autonomy. In particular, in a wide range of situations, having the capability of following a predetermined path and avoiding unexpected obstacles can be extremely relevant. On these basis, this paper analyzes an integrated approach for path following and obstacle avoidance...
During social interaction between humans and robots, body language can contribute to communicate mutual emotional states. In this paper, a method is presented, that enables wheeled robots with differential drive to express various emotional states by means of different movement styles during goal-directed motion. The motion control of the robot utilizes an objective-based motion planner optimizing...
The formation control problem of a multi-agent system with target tracking and navigation is resolved by a gradient based extremum seeking control (ESC) associated with artificial potential functions methodology in this paper. It aims to maintain and achieve a stable formation for a swarm of multi-agent system, while guaranteeing tracking of a specified trajectory. By incorporation of artificial potential...
Active exercise can improve the rehabilitation efficacy of the paralyzed patients, while we need to consider its safety. Impedance control takes the active compliance into account, providing a safe and comfortable training environment for the patients. However, the traditional impedance control has poor robustness, so it is urgent to enhance the adaptive capability of the system. This paper proposes...
It is found that adding a constraint linear motion on the surface normal vector of current workpiece point can make robot set up an adaptive machining method. In this way, a constraint motion according with a machining process is realized in the finite space. The scientific problems are how to quantitatively describe the law of the special motion and simplify the multi-coupling relationship caused...
Welding is an important process in the industrial scenario, especially in the shipbuilding industry. This process is recognized by the laborious work and the hazardous work environment. The use of robots to automate the welding process can reduce the human interference and improve the productivity. This paper proposes a system for automated seam tracking based on passive monocular vision. The vision...
For the omnidirectional lower-limb rehabilitation robot, a controller by using the acceleration and velocity information effectively of the target trajectory is proposed. The improved kinematics and dynamics model of the omnidirectional lower-limb rehabilitation robot with regard for centre-of-gravity shift are presented firstly. By including the acceleration and velocity information, the speed of...
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