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We present a damage-aware planning approach which determines the best sequence to manipulate a number of objects in a scene. This works on task-planning level, abstracts from motion planning and anticipates the dynamics of the scene using a physics simulation. Instead of avoiding interaction with the environment, we take unintended motion of other objects into account and plan manipulation sequences...
In this paper we present the first planner for the problem of Navigation Among Movable Obstacles (NAMO) on a real robot that can handle environments with under-specified object dynamics. This result makes use of recent progress from two threads of the Reinforcement Learning literature. The first is a hierarchical Markov-Decision Process formulation of the NAMO problem designed to handle dynamics uncertainty...
In this article we present a symbolic closed-form matrix formulation to obtain the dynamic equations of branched articulated multibody systems (AMS)s. The proposed approach uses geometric mechanics based on Screw Theory and Lie groups. Both Lagrange's and Newton-Euler's equation of motion are derived. Furthermore, the structure of the proposed set of geometric equations holds the intrinsic robot parameters...
Haptically enabled hands-on or tele-operated surgical robotic systems provide a unique opportunity to integrate pre- and intra-operative information into physical actions through active constraints (also known as virtual fixtures). In many surgical procedures, including cardiac interventions, where physiological motion complicates tissue manipulation, dynamic active constraints can improve the performance...
We present an optimization-based motion planning algorithm to compute a smooth, collision-free trajectory for a manipulator used to transfer a liquid from a source to a target container. We take into account fluid dynamics constraints as part of the trajectory computation. In order to avoid the high complexity of exact fluid simulation, we introduce a simplified dynamics model based on physically...
Dynamic modeling and control of planar parallel cable robot with considering elastic and inertia effects of cables and pulley dynamic consideration in final equation of motion is calculated in this paper. In this paper, planar parallel cable robot has four cables, demonstrate one degree of actuation redundancy. More perfect dynamic equation of cable robot is derived that contains end-effector, cable,...
This paper describes a trajectory planning algorithm for mobile robot navigation in crowded environments; the aim is to solve the problem of planning a valid path through moving people.
In force control applications where a robot end-effector is required to interact with the environment or the workpiece, the dynamic of the environment plays an important role. The environment dynamic may influence the performance of the controlled system, especially the performance in transient period. In order to avoid tuning the controller constantly with the changing environment, a robust control...
Paper presents application of called factitious force method and experiments results using the real mobile skid-steering mobile platform. Due to fact that lateral slippage is needed for changing the orientation, constraints for this phenomena cannot be introduced to the system and, thus, the mobile platform is underactuated on dynamics level. Control problem can be solved by expanding relevant components...
In the paper new control algorithm for skid-steering mobile platforms has been presented. This control law is based on mathematical model of such object. In the model it has been assumed that wheels of the skid-steering platform are not coupled by tracks and that they can move without some slipping effects, namely with lack of longitudinal slipping of selected wheels and lack of lateral slipping of...
Nonprehensile manipulation can play a significant role in complex robotic scenarios, especially for maneuvering non-graspable objects. A big challenge is to construct a robust skill for pushing highly-diverse objects. We present a strategy for pushing unknown objects that differ widely in their properties. For this purpose we introduce the concept of a pushing corridor for cluttered environments that...
Consisting of a collection of modules with the same connection interfaces, a reconfigurable modular robot can be assembled into different configurations to meet different task requirements. The configuration optimization of modular robot is formulated as an optimal design process that is selecting sets of modules and assembling them together to get optimal configurations. To solve the problem of configuration...
This paper reviews recent developments extending sampling based motion planning algorithms to operate in dynamic environments. Sampling based planners provide an effective approach for solving high degree of freedom robot motion planning problems. The two most common algorithms are the Probabilistic Roadmap Method and Rapidly Exploring Random Trees. These standard techniques are well established,...
Automated bin-picking and manipulation of irregularly shaped objects remains a challenge for robotics. A class of irregular objects with articulated components that have motions with scales that are several orders of magnitude larger than each component's localized deformations is considered. Biomaterials with internal skeletal structures (such as bird carcasses in the poultry industry) fall into...
In previous work, we presented a programmable shape shifting-surface composed of modular robotic chains. As the control of a robotic chain presents many challenges, in this paper, kinematics and dynamics of such a robotic chain are modelled to enable model-predictive planning and control strategies. A robotic chain is a tendon-driven under-actuated multibody system that can piecewise control its curvature...
Understanding human mobility is important for the development of intelligent mobile service robots as it can provide prior knowledge and predictions of human distribution for robot-assisted activities. In this paper, we propose a probabilistic method to model human motion behaviors which is determined by both internal and external factors in an indoor environment. While the internal factors are represented...
In this paper, an algorithm called transverse contracting dynamic system primitive (CDSP) to learn the dynamics of periodic motions from demonstrations is presented. Learning motion plans is essential in making robot programming possible by non-expert programmers as well as realizing human-robot collaboration. The complex periodic motion of the human arm is generated by an orbitally stable closed-loop...
In recent years, actuation technology have been increasingly developed new fields and utilized widely in applications differing from automation and industry , but also robotic rehabilitation, haptics and wearable exoskeleton devices where safety, limitation of peak forces and gentle interaction are extremely important. To date, several examples of robotic applications have been designed to address...
The paper is focused on a detailed dynamic study for an axis belonging to a serial robot structure. It contains an analytical study for the driving moments for a translational robot axis based on ball screw transmission. The study of transmission gearing, and implicit a rigorous determination of the driving moments, along the cinematic chain of the mechanical robotic system is a fundamental aspect,...
Dynamic modeling and state feedback control are presented for the two-wheeled self-balancing control robot (TWSBR) which is high-order, nonlinear, heavy couple and unstable. Firstly, Newtonian dynamics method is derived to obtain the dynamics equations of TWSBR nearby the equilibrium point. Secondly, some important performances are analyzed to manifest that TWSBR is heavy coupling and two decoupling...
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