Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...

‘Pigs and people’ is a simulated environment, in which action selection mechanisms can be evaluated and compared. Action selection mechanisms attempt to solve the action selection problem faced by both animals and robots: the problem of selecting which actions to perform in order to achieve heterogeneous and possibly conflicting goals. In this project, two action selection mechanisms are implem...

This paper presents a new observability index to quantify the selection of best pose set in robot calibration. This noise amplification index is considerably more sensitive to calibration error than previously published observability indices. Support for the proposed andex is provided analytically and geometrically, and also through comparison against previous indices by a simulation for a 3-li...

This paper describes an overall robot-soccer system, associated action selection mechanism and strategies. The robots used in MiroSot are small in size (7.5cm 7.5cm 7.5cm), fully/semi autonomous and without any human operators. MiroSot involves multiple robots that need to collaborate in an adversarial environment to achieve speciic objectives. In multi-robot systems the environment's dynamics ...

The robots used in MiroSot (Micro-Robot World Cup Soccer Tournament) are small in size (7.5cm 7.5cm 7.5cm), fully/semi autonomous and without any human operators. MiroSot involves multiple robots that need to collaborate in an adversarial environment to achieve speciic objectives. They have dynamic environments as other robots intentionally aaect the environment in unpredictable ways. The key a...

This paper describes a rigorous Bayesian approach to model selection and state estimation for sensorbased robot tasks. The approach is illustrated with an example from autonomous compliant motion: simultaneous Contact Formation recognition and estimation of geometrical parameters. Previous research in this area tries to solve one of the two subproblems, or treats the Contact Formation recogniti...

In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...

We introduce FARSA, an open-source Framework for Autonomous Robotics Simulation and Analysis, that allows us to easily set up and carry on adaptive experiments involving complex robot/environmental models. Moreover, we show how a simulated iCub robot can be trained, through an evolutionary algorithm, to display reaching and integrated reaching and grasping behaviours. The results demonstrate ho...