The Problem: One of the fundamental social skills for humans is a theory of other minds. This set of skills allows us to attribute beliefs, goals, and desires to other individuals. To take part in normal human social dynamics, a robot must not only know about the properties of objects, but also the properties of animate agents in the world. This research project attempts to implement basic soci...

In 1991, Ballard [2] described the implications of having a visual system that could actively position the camera in response to physical stimuli. In humanoid robotic systems, or in any animate vision system that interacts with people, social dynamics provide additional levels of constraint and provide additional opportunities for processing economy. In this paper, we describe an integrated vis...

The field of multi-robot coordination, specifically robot formation control, is rapidly expanding, with many applications proposed. In our previous work, we considered the problem of establishing and maintaining a formation of robots given an already connected network. We now propose a distributed auction-based method to autonomously initialize and reorganize the network structure of a formatio...

Padhy, S.K., On the dynamics of SCARA robot, Robotics and Autonomous Systems, 10 (1992) 71-78. Assembly automation using robots has proven to be very successful. It has been shown that use of robots improves the accuracy of assembly, and saves assembly time and cost as well. SCARA (Selective Compliance Assembly Robot Arm) type robots have been widely used in industry for assembly operations in ...

Cerebellar models have long been advocated as viable models for robot dynamics control. Building on an increasing insight in and knowledge of the biological cerebellum, many models have been greatly refined, of which some computational models have emerged with useful properties with respect to robot dynamics control. Looking at the application side, however, there is a totally different picture...

A diagonal equation _ + C( ; )= for robot dynamics is developed by combining recent mass matrix factorization results [1{7] with classical Lagrangian mechanics. Diagonalization implies that at each xed time instant the equation at each joint is decoupled from all of the other joint equations. The equation involves two important variables: a vector of total joint rotational rates and a correspon...

The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...

This paper will describe the kinematics and dynamics of parallel robot named Delta with 3 degree of freedom (d.o.f). The use of dynamics coupled with kinematics for the control of parallel robot has been gaining increasing popularity in recent years. Relationship between generalized and articular velocities is established, hence jacobian and inverse jacobian analyses are determines. The inverse...

In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...