In this paper, the authors establish a structured environment, in which environment knowledge is not only given to the visible robot that serves to people but also to the environment itself. It aims to provide services efficiently by using the visible robot and to construct a general system that information can be shared with the other robots. Through the experiment, it succeeded in constructin...

This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and...

This work is about the energy analysis of a humanoid robotic arm, seen as complex energy chain. We developed a simulation platform suitable for modelling the kinematics, dynamics, and energy balances of a real humanoid robotic arm. The model was validated by an accurate comparison with the real robot. Then, we performed a first compared study of the motion dynamics of the simulated robot arm an...

Abstract— In this paper, the trajectory planning of a two-link rehabilitation robot arm is addressed. Firstly, a Cartesian planning of the trajectory is defined to perform a proper motion exercise for the patient’s arm. Secondly, a trajectory planning in joint space is studied to obtain a similar Cartesian path with less computational complexity. The robot arm analyzed is the two degrees of fre...

A biped humanoid robot is prone to fall when walking or operating in a complex environment, and forward fall is one of the most common falling cases. This study focuses on the forward fall issue and presents an “Arm Flexible Landing Strategy” for safe falling. First, the forward falling motion is analyzed from an energy variation perspective of the robot system, and a method to choose best-fit ...

This paper is concerned with the design of a neuro-adaptive trajectory tracking controller. The paper presents a new control scheme based on inversion of a feedforward neural model of a robot arm. The proposed control scheme requires two modules. The first module consists of an appropriate feedforward neural model of forward dynamics of the robot arm that continuously accounts for the changes i...

Uncertainties are the main reasons of deterioration of contour control of industrial articulated robot arm. In this paper, a high-precision contour control method was proposed to overcome some main uncertainties, such as torque saturation, system delay dynamics, interference between robot links, friction, and so on. Firstly, each considered factor of uncertainties was introduced briefly. Then p...

A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement a force and motion control with dynamic compensation, a torque-controlled system is necessary. However, a torque-controlled robot is not always available. In fact, most commercially available mobile bases are velocity-controlled. This paper presents a m...

BACKGROUND Electromechanical and robot-assisted arm training devices are used in rehabilitation and might help to improve arm function after stroke. OBJECTIVES To assess the effectiveness of electromechanical and robot-assisted arm training for improving activities of daily living and arm function and motor strength of patients after stroke, and the acceptability and safety of the therapy. ...

This paper describes the development of a chess-playing robot called MarineBlue. This robot consists of three components: a computer vision component to recognize chess board situations, a chess engine component to compute new moves and a robot control component to execute these moves by means of a robot arm. In the paper, we focus on the algorithms that have been used to implement the computer...