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The two robots cooperation system has been widely used across the robotic research field with many effective cooperation control strategies. In this paper, a novel two parallel robots cooperation system which can handle objects with large volume and heavy weight is developed by optimizing the traditional Cartesian parallel mechanism (CPM). Forward and inverse kinematics of the improved CPM-based parallel...
The temporomandibular joint (TMJ) is a complex bilateral articulation, and its movements are a combination of hinge movement and gliding movement guided by its articular surfaces. A masticatory robot with higher kinematic pairs (HKPs) simulating TMJ behavior is introduced. Kinematic equations of the HKPs are derived based on three-dimensional kinematics of rigid bodies and differential geometry. Position,...
In order to improve the precision and safety of workpiece quality detection, this paper takes six degrees of freedom of industrial robots as the research object. We analyze the structure and parameters of each component, and study the trajectory planning method of industrial robot. Firstly, we use D-H parameter method to establish the link coordinate of industrial robot, and analyze the kinematics...
This paper discusses the practical implementation of a flatness based control for a flexible joint robot arm. Using differential flatness theory, reference trajectories are generated for a flexible joint robot and then a tracking controller is implemented. The vibrations experienced by the robot arm are sufficiently damped and nonminimum phase behaviour is eliminated. The control shows fast transcient...
The paper is concerned with the multi-robot leader-following problem in the presence of frequent dropouts in vision detection. In many scenarios, for instance a structured environment, it is inevitable to experience outage of vision detection due to reasons such as the target moving out of view, vision occlusion, motion blurring, etc. The paper proposes a Bayesian trajectory estimation based leader-following...
Patrolling is mainly used in situations where the need of repeatedly visiting certain places is critical. In this paper, we consider a deployment of a wireless sensor network (WSN) that cannot be fully meshed because of the distance or obstacles. Several robots are then in charge of getting close enough to the nodes in order to connect to them, and perform a patrol to collect all the data in time...
This paper focus on the leader-follower control theory how to fits the Metro UTO (Unattended Train Operation) requirements. The core study of the paper concentrates on the practicability of the leader-follower control, which base on the ATO (Automatic Train Operation) and ATP (Automatic Train Protection) subsystems' monitoring and controlling in Metro. Firstly, the introduction of the paper's backgrounds...
In this paper, a coordinated motion of two types of heterogeneous robots, namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. The UGV plays the role of a leader for the UAV. While UGV tracks a predefined geometric path, the UAV is supposed to track the UGV. A robust controller based on integral sliding mode is designed to solve the tracking problem in the presence...
Topology maps represent the layout arrangement of nodes while maintaining the connectivity. As it is extracted using connectivity information only, it does not accurately represent the physical layout such as physical voids, shape, and relative distances among physical positions of sensor nodes. A novel concept Maximum Likelihood-Topology Maps for Wireless Sensor Networks is presented. As it is based...
The need for efficiency and effectiveness lead to increasing the involvement of robots in the drug development process. A predictive modeling concept proposed in this paper refers to optimizing the robot movements in a laboratory environment during the experimentation. Trajectory planning is data-driven approach that relies on the interaction of the drug compound and the target. Optimal solution for...
Although many tasks intrinsically involve multiple modalities, often only data from a single modality are used to improve complex robots acquisition of new skills. We present a method to equip robots with multimodal learning skills to achieve multimodal imitation on-the-fly on multiple concurrent task spaces, including vision, touch and proprioception, only using self-learned multimodal sensorimotor...
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to temporarily stop and delay its advancement along its planned trajectory which can be used to model, e.g., passing-by humans for whom the robots have to yield. Although reactive...
Two robust kinematic controllers for position trajectory tracking of a perturbed wheeled mobile robot are presented. We address a final objective of fixed-time pose-regulation, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To achieve that, we propose the robust tracking of adequate trajectories for position, which drives...
This paper presents two models for the generalized differential wheeled mobile robot where the origin of the frame of reference of the robot may be placed away from the center of the prolongation of the axes of the actuated wheels of the robot. One model relates the angular speeds of the actuated wheels with the posture of the robot. A position tracking control is exemplified via numerical simulations...
We consider the problem of generating dynamically feasible and safe plans for teams of aerial robots (quadrotors) while holding a fixed relative formation as well as transitioning between a sequence of formations. We extend the existing assignment and planning approaches for quadrotor teams to find minimal-time trajectories to enable team transition between non-rest initial and ending states while...
This paper presents an online optimization-based approach to compute trajectories to enable substitution of robots in formation-based deployments with durations that exceed the energy capacity of individual systems. The proposed algorithm computes trajectories in a multi-robot context to ensure a collision-free exchange, even where congestion is a concern. The quality of the resulting trajectories...
In highly dynamic tasks that involve moving targets, planning is necessary to figure out when, where and how to intercept the target. In robotic table tennis in particular, motion planning can be very challenging due to time constraints, dimension of the search space and modelling uncertainties. To simplify the problem, conventional planning algorithms often rely on a fixed virtual hitting plane to...
We propose a new optimal trajectory generation technique on SE(3) which avoids known obstacles. We leverage techniques from differential geometry and Lie algebra to formulate a cost functional which is intrinsic to the geometric structure of this space and makes physical sense. We propose an approximation technique to generate trajectories on the subgroup SO(3) and use Semidefinite Programming (SDP)...
Animals provide inspiration for developing soft machines in bionics, robotics research as well as potential applications. This paper presents an integrated development of locomotive soft robot platforms: starfish-inspired robots with multi-limb bodies actuated by shape memory alloys (SMAs). The designs of these robots were based on the biological specifications of the locomotion and water-vascular...
Non-humanoid robots are becoming increasingly utilized for collaborative tasks that rely on each collaborator's ability to effectively convey their mental state while accurately estimating and interpreting their partner's knowledge, intent, and actions. During these tasks, it may be beneficial or even necessary for the human collaborator to assist the robot. Consequently, we explore the use of nonverbal...
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