相关论文: Accelerometer-based control of an industrial robot…
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…
Mixed Reality (MR) is constantly evolving to inspire new patterns of robot manipulation for more advanced Human- Robot Interaction under the 4th Industrial Revolution Paradigm. Consider that Mixed Reality aims to connect physical and…
Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the handover. We propose "on-the-go" handovers which permit a…
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would…
The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid…
In this paper, we present a novel method to control a rigidly connected location on the vehicle, such as a point on the implement in case of agricultural tasks. Agricultural robots are transforming modern farming by enabling precise and…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that…
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…
Iterative Learning Control (ILC) can achieve perfect tracking performance for mechatronic systems. The aim of this paper is to present an ILC design tutorial for industrial mechatronic systems. First, a preliminary analysis reveals the…
Automated hand gesture recognition has been a focus of the AI community for decades. Traditionally, work in this domain revolved largely around scenarios assuming the availability of the flow of images of the user hands. This has partly…
This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
The human arm exhibits remarkable capabilities, including both explosive power and precision, which demonstrate dexterity, compliance, and robustness in unstructured environments. Developing robotic systems that emulate human-like…
In this study, a novel control algorithm for a P-300 based brain-computer interface is fully developed to control a 2-DoF robotic arm. Eight subjects including 5 men and 3 women, perform a 2-dimensional target tracking task in a simulated…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
Human-machine interaction (HMI) and human-robot interaction (HRI) can assist structural monitoring and structural dynamics testing in the laboratory and field. In vibratory experimentation, one mode of generating vibration is to use…