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Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
<jats:title>Abstract</jats:title> <jats:p>In manufacturing industry, Computer Numerical Control (CNC) machines are often preferred over Industrial Serial Robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning…
In recent years, robotic table tennis has become a popular research challenge for perception and robot control. Here, we present an improved table tennis robot system with high accuracy vision detection and fast robot reaction. Based on…
Generating a collision-free robot motion is crucial for safe applications in real-world settings. This requires an accurate model of all obstacle shapes within the constrained robot cell, which is particularly challenging and…
The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
Nowadays high speed machining (HSM) machine tool combines productivity and part quality. So mould and die maker invested in HSM. Die and mould features are more and more complex shaped. Thus, it is difficult to choose the best machining…
Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest…
This study is part of research aiming at increasing the range of dynamic tasks for teleoperated field robotics in order to allow operators to use the full range of human motions without being limited by the dynamics of the robotic…
This paper represents a systematic way for generation of Aaria, a simulated model for serial manipulators for the purpose of kinematic or dynamic analysis with a vast variety of structures based on Simulink SimMechanics. The proposed model…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
The purpose of this work is twofold: to present mathematical expressions for the kinematics of an articulated mechanism and to perform numerical experiments with the implemented code. The system of rigid parts is made of two slender bars…
In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs…
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an…
A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Recent success of machine learning in many domains has been overwhelming, which often leads to false expectations regarding the capabilities of behavior learning in robotics. In this survey, we analyze the current state of machine learning…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…