2016 2nd International Conference on Control, Automation and Robotics (ICCAR)

Planning of 3D-trajectories for robots can be very time consuming, especially if a defined movement of the work-piece relative to a process-tool is required. Commonly the dynamic attributes of the robot are not considered during the planning. Adjacent process planes, which share the same edges but have different angles of their surface normals, require an abrupt change of the work-piece orientatio... View full abstract»

This paper presents a project that allows the Baxter humanoid robot to play chess against human players autonomously. The complete solution uses three main subsystems: computer vision based on a single camera embedded in Baxter's arm to perceive the game state, an open-source chess engine to compute the next move, and a mechatronics subsystem with a 7-DOF arm to manipulate the pieces. Baxter can p... View full abstract»

In recent years, the humanoid robot is received great attention, and gradually develop to households and personal service field. The prominent progress of cloud computing, big data, and machine learning fields provides a strong support for the research of the robot. With affective interaction ability of robot has a broad market space and research value. In this paper, we propose a cloud-assisted h... View full abstract»

It is important for multiple robots to engage tasks cooperatively and effectively. In a cooperative work, a robot needs to observe partner robots and anticipate their action. The authors have considered that visual scanpath acts as a key role to detect important regions for the action recognition of the partner because human generally attends to regions-of-interest for such recognition. The author... View full abstract»

A ball-bot is an extremely agile mobile robotic platform due to its inherent instability. In order to maneuver at high speeds, a specialized controller is needed. A ball-bot can be modelled as two decoupled, 2-DOF pendulum on a cart systems. These systems comprise a classical and frequently encountered problem in the area of control theory. This paper proposed a novel technique for adaptive contro... View full abstract»

The robot arms used in industry are classified as two categories including the serial robot and the parallel robot. Compared with the serial robots, parallel robots have advantages in high precision, high stiffness, high load, high speed and low inertia. This work proposed and implemented a mechanism to perform spherical motion with merely extra modification of a Delta-based machine and the experi... View full abstract»

This paper presents the development of a master/slave tele-operation system with haptic features. The force feedback control of robotic arm is developed. The proposed system consists of a Novint Falcon haptic device as a master and SCARA robot arm as a slave. The master system has a device to measure position when the master system interacts with virtual or real object; actuators devices in the ma... View full abstract»

Proportional-Integral (PI) control is usually employed in motion control design for mobile robots. However, external torque disturbances induced by ill-conditioned road situations still deteriorate the running performance of the driving motors, and thus limit the robots' motion performance. To improve motion accuracy, a torque-compensated PI control is presented that integrates conventional PI con... View full abstract»

This paper presents a new simulation platform for the industrial project of Robot Application Development and Operating Environment (RADOE). The simulator displays the robot models in Gazebo and Rviz interfaces concurrently starting from the bare bone framework. A Rviz interface plugin is developed for users to easily load the launch files or parameter files to the simulation platform. Experiments... View full abstract»

This paper presents an optimized, robust inverse kinematics solution in a closed form for redundant manipulators with seven degrees of freedom and zero link offsets like the KUKA LBR iiwa lightweight robot. The computation allows for full range elbow self-motion manifold control, defined by an intuitive angle parameter. Furthermore, by using common configuration parameters, all possible solutions ... View full abstract»

This paper presents a method to solve - in real time - the three dimensional workspace generation problem for arbitrary serial manipulators. Our approach is based on Monte Carlo simulation, to process a high number of forward kinematics with randomly chosen joint values. This results in an asymptotic coverage of the reachable workspace. Additionally, collision detection is integrated to consider o... View full abstract»

Recently, there has been an increasing interest in the field of human interactive robotics. Contrary to otherwise complex and resource hungry algorithms, we in this work have presented a computationally low cost algorithm for a human following robotic application. Instead of detecting the human, the algorithm makes use of a specific colour tag placed on the human subject which is detected by a cam... View full abstract»

In this paper, a group of mobile robots learns to solve a target reaching problem in a simulated grid environment filled with obstacles. Each robot knows its distance to the target and can communicate with each other. The proposed learning algorithm combines a reinforcement learning algorithm and a swarm optimization algorithm. Q-learning, which is a reinforcement learning algorithm, is modified t... View full abstract»

This research study presents the simulation results, from the V-REP software, of using Kilobots in executing collective behaviors usually done in military operations. A given base configuration of 10 Kilobots are used in simulating both the target-surrounding and search-and-rescue behaviors. In each algorithm, a Kilobot performs three basic roles: (1) searcher/walker, (2) target and (3) base. In t... View full abstract»

Cable driven parallel mechanism is a special kind of parallel robot in which traditional rigid links are replaced by actuated cables. This provides a new suspension method for wind tunnel test, in which an aircraft model is driven by a number of parallel cables to fulfil a series motion. To meet the precision and stability requirement of wind tunnel tests, a hybrid pose and tension control method ... View full abstract»

This paper presents a detailed dexterity analysis of three different kinematics, comparing six-DoF with seven-DoF robots. The KUKA LBR iiwa 7 lightweight robot represents the seven-DoF kinematics, while the KUKA KR 10 is chosen as a common six-DoF robot with comparable workspace dimensions. Furthermore, the LBR iiwa is simulated as a six-jointed robot to allow for a direct comparison of seven- and... View full abstract»

This paper proposes a new algorithm for solving the robot path planning problem which includes finding a path from a source to a destination subject to certain constraints. First, using the overhead view of the surroundings, a free space model is created using MAKLINK graph theory. Then Dijkstra's Algorithm is applied over the MAKLINK graph to obtain a sub-optimal path. This sub-optimal path is fu... View full abstract»

The exoskeleton rehabilitation robot of the lower limb is a special robot. It is provided for the users to wear outside, whereby artificial intelligence and mechanical power device are combined to enhance the ability of limb movements. The rehabilitation robots of the lower limb at home and abroad are described in this paper, especially the history and development status of the exoskeleton rehabil... View full abstract»

In this paper, a SMC based mobile robot controller is designed, which can achieve chatter alleviation, matched and mismatched disturbances regulation and stability at the same time. Specifically, there are four main contributions in this paper. First, new hierarchical sliding surfaces are designed in the paper for mobile robot subject to matched and mismatched disturbances. Second, a robust distur... View full abstract»

Due to the urgent need for Minimally Invasive Surgeries (MIS), all kinds of surgical robots have been developed and investigated intensively in last decades, which can both release the fatigues of surgeons and speed up the process of wound healing. Tendon-Driven Serpentine Manipulator (TSM) maybe among the most widely adopted and promising ones to turn robot assisted MIS into reality. But due to t... View full abstract»