Related papers: Accuracy and repeatability of a parallel robot for…
With the potential applications of capsule robots in medical endoscopy, accurate dynamic control of the capsule robot is becoming more and more important. In the scale of a capsule robot, the friction between capsule and the environment…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
This paper focuses on the development of a ground-based test-bed to analyze the complexities of contact dynamics between multibody systems in space. The test-bed consists of an air-bearing platform equipped with a 7 degrees-of-freedom (one…
Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
This paper describes use of model checking to verify synchronisation properties of an industrial welding system consisting of a cobot arm and an external turntable. The robots must move synchronously, but sometimes get out of…
In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…
In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with rewriting the robot models as a function of the…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Collecting manipulation demonstrations with robotic hardware is tedious - and thus difficult to scale. Recording data on robot hardware ensures that it is in the appropriate format for Learning from Demonstrations (LfD) methods. By…
The objective of this work is to relate muscle effort distributions to the trajectory and resistance settings of a robotic exercise and rehabilitation machine. Muscular effort distribution, representing the participation of each muscle in…
A goodness-of-fit test for the fitting of a parametric model to data obtained from a detector with finite resolution and limited acceptance is proposed. The parameters of the model are found by minimization of a statistic that is used for…
The usage of eye tracking sensors is expected to grow in virtual (VR) and augmented reality (AR) platforms. Provided that users of these platforms consent to employing captured eye movement signals for authentication and health assessment,…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
Before new clinical measurement methods are implemented in clinical practice, it must be confirmed whether their results are equivalent to those of existing methods. The agreement of the trend between these methods is evaluated using the…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
Postural sway assessment is important for detecting balance problems and identifying people at risk of falls. Force plates (FP) are considered the gold standard postural sway assessment method in laboratory conditions, but their lack of…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Mobile robots with complex morphology are essential for traversing rough terrains in Urban Search & Rescue missions (USAR). Since teleoperation of the complex morphology causes high cognitive load of the operator, the morphology is…