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In this work, a synergy-based reinforcement learning algorithm has been developed to confer autonomous grasping capabilities to anthropomorphic hands. In the presence of high degrees of freedom, classical machine learning techniques require a number of iterations that increases with the size of the problem, thus convergence of the solution is not ensured. The use of postural synergies determines dimensionality...
This paper describes the development of one DoF robotic hand that makes human laugh by tickling through rubbing underarm. Laughter is attracting research attention because it enhances health by treating or preventing mental diseases. However, laughter has not been used effectively in healthcare because the mechanism of laughter is complicated and is yet to be fully understood. The development of a...
This paper addresses time-optimal path-constrained trajectory planning. Given a geometric path for a manipulator, this paper focuses on the selection of the time law along the path. This law minimizes the time required to complete the path and at the same time is consistent with constraints, both at kinematic and dynamic levels. To obtain the optimal law a decision algorithm for the acceleration along...
The paper describes a method of fault-tolerant adaptive gait generation based on CPG controller with interlimb coordination for multi-limbed working robot. Multi-limbed robot is expected to work in dangerous, complicated narrow spaces, where human workers cannot reach. However, if one of the limbs is broken in the dangerous/narrow working space, human operators cannot go to the space to repair it...
The reaction wheel stabilizer (RWS) concept for bipedal stabilization consists of a wheel that can be accelerated in order to impart a reaction torque on the rest of the biped. The beneficial effects of such a device (or emulation of such a device through limb motion) on transient body motions are not well understood. This work quantifies this phenomenon by comparing optimal trajectories for robots...
Collision-free walking in cluttered environments is still an open issue for humanoids. Most current approaches use heuristics with large safety margins to plan the robot's motion. That way, the chance of collisions can be greatly reduced but the robot movements are artificially limited. In this context, we extend our framework for motion generation and whole-body collision-avoidance by an on-line...
This paper introduces a motion planning method to generate ladder climbing motion for a four-limbed robot. This method contains the following points: (1) independent planning of path and time in 3 dimensional space for trajectory planning; (2) path length minimization according to given midpoints. In trajectory planning, arc-length parameterization is used to separate path planning and time planning...
Conventional path planning algorithms compute a single path through the configuration space. There is no guarantee that a physical robot will be able to track the trajectory while avoiding collisions, particularly in the presence of environmental perturbations and errors in the process model. Sequential composition combines planning and control by computing a sequence of controllers to execute rather...
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear programming (MILP) formulation. This problem can be solved using general-purpose MILP solvers in a reasonable time, resulting in a resolution-optimal solution. Moreover,...
In this paper, we propose a framework to map stationary sound sources while simultaneously localise a moving robot. Conventional methods for localisation and sound source mapping rely on a microphone array and either, 1) a proprioceptive sensor only (such as wheel odometry) or 2) an additional exteroceptive sensor (such as cameras or lasers) to get accurately the robot locations. Since odometry drifts...
This paper addresses the problem of jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems are addressed jointly and a solution that takes both into consideration is proposed. To do so, a manipulation...
This paper describes a 6-DOF industrial robot capable of picking up die-casting products. The link coordinate system of the 6-DOF robot is established based on the D-H parameter method and the forward and inverse kinematics are discussed. ADAMS is utilized to establish a virtual prototyping and the kinematic simulation is carried out. The results show that the validity of the kinematic equations is...
This paper concerns on an optimal control problem of a robot movement from an initial point to another target point while avoiding obstacles. Previous study had generated a trajectory that should be taken by the robot to minimized the consumed energy while moving with constant velocity. Here, we find the optimal performance index value which minimizes the trajectory length as well as the energy usage...
Demining or mine clearing is the process of detecting and removing land mine from an area. Uncleared landmines represent a major humanitarian and economic threat in over 70 countries. Its victims suffer from permanent disability if not killed and require horrific expensive care. Also, the cost of the land, roads, and underground resources that remains useless. Clearing mines is very dangerous work...
This paper presents a controller design and its implementation for an omnidirectional robot. Due to the holonomic nature of an omnidirectional robot, the mobile robot are able to follow any planned trajectory. The path are calculated on the world frame and then transformed using inverse kinematic to each of the mobile robot motor speed. Therefore a kinematic model for the robot are derived and a PID...
This paper presents a Lyapunov based cooperative hunting method for multiple robots. First, the relative dynamics is obtained from the robot-target relative kinematics. Then, using the relative dynamics and dynamics of all the robots, a Lyapunov based local controller is derived to stabilize individual robots. Afterward, the cooperative control law is obtained by adding an extra term to the local...
This report presents the results of the development of method of forming of motion laws for mechatronics objects (MO) along trajectories with the desired speed. Desired trajectories are described by third order parametric splines. Analytical expressions describing the dependence of the rate of change of the parameter from the laws of change of given speed and information about the parametric form...
Humanoid robot is a dynamic robot which can walk with two legs like a human. Many researchers are interested in this class of robot due to its flexibility in reaching a variety of terrain and also its similarity to humans. The main problem often faced by developers is the motion control system which is rather nontrivial. Having 25 DOF with only two legs, it is difficult to model the robot movement...
Cable-driven parallel robots have a wide range of applications due to its unique characteristics of large workspace and high payload and dynamics. One of its promising industrial applications is high speed material handling allowed by high dynamics of the cable robots. The high speed material handling has been mostly performed by traditional parallel robots, such as delta robots whose workspace and...
This paper presents a nested marsupial robotic system and its execution of a notional disaster response task. Human supervised autonomy is facilitated by tightly-coupled, high-level user feedback enabling command and control of a bimanual mobile manipulator carrying a quadrotor unmanned aerial vehicle that carries a miniature ground robot. Each robot performs a portion of a mock hazardous chemical...
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