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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, we revisit a real-time socially-aware navigation planner which helps a mobile robot to navigate alongside humans in a socially acceptable manner. This navigation planner is a modification of nav core package of Robot Operating System (ROS), based upon earlier work and further modified to use only egocentric sensors. The planner can be utilized to provide safe as well as socially appropriate...
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...
We present a hybrid programming method for industrial robots combining advantages of manual haptic guidance of the end-effector and programming approaches using non-haptic pointing gestures for the spatial definition of poses and trajectories. Whereas the bare-hand spatial interaction can be implemented and performed cost- and time-efficiently but lacks accuracy, haptic-interaction is more time-consuming...
Kinesthetic teaching is a viable solution for programming robots in the execution of new tasks thanks to the human-mediated mapping between the task objectives and the robot joint space. Redundant designs and differences from human kinematics pose challenges in the efficient execution of the teaching task. In this work we employ vibrotactile feedback letting operators understand specific kinematic...
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...
Robot navigation is a central problem in extraterrestrial environments and a suitable navigation algorithm that allows the robot to quickly but precisely avoid initially unknown obstacles is important for efficient navigation. In this paper, we consider a well-known machine learning-based framework called reinforcement learning for robot navigation and investigate a technique for adaptively adjusting...
This paper describes a force sensor using metallic piezoresistive transducer for measuring the force originated by the physical interaction of the rigid body or arm incorporated autonomous vehicles in x, y and z co-ordinates [Fx, Fy and Fz]. It explains a theory, design and construction of single axis and multi-axis force/torque sensor. Here presents a novel idea for design a three degree of freedom...
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...
One challenge of robotic rehabilitation interventions is devising ways to encourage and maintain high levels of subject involvement over long duration therapy sessions. Assist-as-needed controllers have been proposed which modulate robot intervention in movements based on measurements of subject involvement. This paper presents a minimal assist-as-needed controller, which modulates allowable error...
Lower limb exoskeletons are being used to assist people with movement disorders during activities of daily living or rehabilitation. However, providing a natural interface that automatically adapts to the patient's movement limitations remains an open challenge. In this paper, we present a control implementation that combines a compliant actuator technology with the concept of tacit learning to improve...
This paper proposes an efficient implementation of the multi-sensor generalized labeled multi-Bernoulli (GLMB) filter. The solution exploits the GLMB joint prediction and update together with a new technique for truncating the GLMB filtering density based on Gibbs sampling. The resulting algorithm has a complexity in the order of the product of the number of measurements from each sensor, and quadratic...
The Cooperative Multi-Area Coverage (CMAC) refers to a class of complex tasks in which multiple robots are required to jointly cover multiple areas by performing specific operations while moving across them. Practical operations may be garbage clearance, demining, area scanning for information acquisition, and so on. This paper proposes a distributed motion planning method for multiple robots to cooperatively...
This paper presents a real time hybrid 2D position and orientation tracking system developed for an upper limb rehabilitation robot. Designed to work on a table-top, the robot is to enable home-based upper-limb rehabilitative exercise for stroke patients. Estimates of the robot's position are computed by fusing data from two tracking systems, each utilizing a different sensor type: laser optical sensors...
In this paper, we introduce a new scanning technique for detecting landmines and unexploded ordnance (UXO). The manipulator arm carried by a hexapod robot is capable of scanning rough terrain using a typical mine detector. To speed up the landmine detection and marking, both scanning and moving forward will be done simultaneously. The controller will perform two tasks. The first task is to keep the...
Bristle-bots are vibration-driven mobile robots characterized by small size, high speed, simple design and low costs for production and application - qualities which are advantageous for agents of swarm robotics. Current studies have focused on their natural behaviour on confined spaces, navigation capabilities through pipes, and mathematical modelling of the bristle-based motion, however, trajectory...
Some people with severe mobility impairments are unable to operate powered wheelchairs reliably and effectively, using commercially available interfaces. This has sparked a body of research into “smart wheelchairs”, which assist users to drive safely and create opportunities for them to use alternative interfaces. Various “shared control” techniques have been proposed to provide an appropriate level...
The healthy human nervous system accurately and robustly controls movements despite nonlinear dynamics, noise, and delays. After a stroke, motor ability frequently becomes impaired. To provide insight into the relative impact of specific sensorimotor deficits on motor performance, we modeled neural control of reaching with the human upper limb as a near-optimally feedback-controlled two-degree-of-freedom...
The number of people with physical disabilities and impaired motion control is increasing. Consequently, there is a growing demand for intelligent assistive robotic systems to cooperate with people with disability and help them carry out different tasks. To this end, our group has pioneered the use of robot learning from demonstration (RLfD) techniques, which eliminate the need for task-specific robot...
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