Agricultural robots have the potential to reduce herbicide use in agriculture and horticulture through autonomous precision weeding. One of the main challenges is how to efficiently plan paths for a robot arm such that many individual weeds can be processed quickly. This paper considers an abstract weeding task among obstacles and proposes an efficient online path planning algorithm for an indu...

One of the most general frameworks for phrasing control problems for complex, redundant robots is operational-space control. However, while this framework is of essential importance for robotics and well understood from an analytical point of view, it can be prohibitively hard to achieve accurate control in the face of modeling errors, which are inevitable in complex robots (e.g. humanoid robot...

The problem of moving a rigid robot arm along a finite sequence of equilibrium points, with the last point coincident with the first one, is investigated. Such a sequence, referred to as a cycle, is to be repeated over and over in time, and a controller is sought which improves system performance by using positioning errors. Differently from learning control, no system initialization is require...

The problem of moving a rigid robot arm along a finite sequence of equilibrium points, with the last point coincident with the first one, is investigated. Such a sequence, referred to as a cycle, is to be repeated over and over in time, and a controller is sought which improves system performance by using positioning errors. Differently from learning control, no system initialization is require...

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...

Introduction One of the most important requirements in robotics is accuracy, and in order to solve this problem robot structures are built very stiff and rigid. In addition, frequently most of today’s analyses and controls of industrial robots are based on the assumption that the robot arm is just a collection of rigid bodies, so that, in order to position the end effector to the commanded loca...

Recently, bilateral arm training has attracted great attention in the development of rehabilitation robots to provide therapy for hemiplegic patients with a unilaterally disabled limb. It has been proved that bilateral arm exercise can stimulate ipsilateral corticospinal pathways and enhance recovery; also the coordination of the two limbs can reduce hypertonia and abnormal synergies compared t...

Controlling a chain of tethered mobile robots (TMRs) can be challenging task. This kind system considered kinematically as an open-chain robotic arm where the are revolute joint and tether is variable length link, using prismatic joint. Thus, TMRs problem decoupled into two parallel problems: equivalent manipulator control shape computation. Kinematic redundancy exploited in order to coordinate...

There is a growing need for robots that can not only function in close proximity to human beings but also physically interact with them safely. This calls for a paradigm shift in the way robots are designed. Towards this end, we propose the use of continuum robots to improve safety in physical human robot interaction (pHRI). Continuum robots have been looked at in the past for applications whic...

In this paper we present control strategies for implementing reconfigurable planar microassmbly using multiple stress-engineered MEMS microrobots (MicroStressBots). A MicroStressBot is an electrostatic microrobot that consists of an untethered scratch drive actuator (USDA) that provides forward motion, and a steering-arm actuator that determines whether the robot moves in straight line or turns...