In bilateral telemanipulation scenarios the human hand/arm is usually put in correspondence with a robotic hand/arm system. The kinematic structure of the human hand and of the robotic hand are typically different requiring algorithm to map human motion on the robot workspace. At the same time, the force measured at the robotic side cannot usually be displayed in the same point on the human han...

This paper presents an approach to on-line path planning for multiple robots in configuration space. On the basis of defining some points in workspace as fmdamental obstacles, we develop an efficient algorithm for mapping a complex Cartesian obstacle by selecting obstacle's critical points. Its computational time for mapping a two-dimensional obstacle is approximately 5ms with a 33Mhz 80486 CPU...

The Position and orientation accuracy of robot manipulator has long become a major issue to be considered in its advanced application. The simplified expressions for the differential vector of the end-effector have been proposed based on the original expressions derived by Veitschegger and Wu in 1986. According to this new expression, a linear error model that described the end-effector positio...

Future humanoid robots will execute various complicated tasks based on communication with human users. These humanoid robots will be equipped with anthropomorphic robot hands much like the human hand. The robots will eventually supplant human labor in the execution of intricate and dangerous tasks in areas such as manufacturing, space exploration and the seabeds. Many multi-fingered robot hands...

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the m...

This paper proposes a multi-terminal adaptive collaborative operation method for solving the problem of unstable internal force tracking in clamping and handling unknown objects by robots. In proposed method, command changes complex control into an from multi-slave to master. Moreover, we develop algorithm setups estimate object stiffness motion uncertainty direction according Lyapunov theory. ...

This paper describes the structural design of the SUR-II spherical underwater robot. A spherical shape was adopted due to its outstanding shock resistance and flexibility. We designed and developed vectored water-jet thrusters to implement 4-degreesof-freedom (4-DOF) underwater motion while saving energy. Because each thruster provided 2-DOF motion, three were sufficient for 4-DOF motion. There...