This paper describes the implementation of reex action for the arm of the humanoid robot Cog [5]. A set of biologically inspired postural primitives are used to create the arm motion. The primitives are combined in di erent ways to achieve reaching with grasping and withdrawal reexes, allowing the arm to interact safely with both objects and people. This paper describes the re exes, the biologi...

Robotic manipulators are becoming a very common tool in modern industries and research laboratories. In order to successfully execute a given task a control software is necessary that sends and tracks appropriate orders to the robot arm. This paper presents the design principles of a general software framework capable to control any robot arm with any set of sensors. A possible implementation o...

In traditional teleoperation systems, the operator is saddled with two distinct tasks: 1) move the robot arm to its desired position, and 2) avoid obstacles that can obstruct the robot arm manipulator. To accomplish these tasks, an area of current teleoperation research is involved with providing the operator with as much input information about the task site as possible using, for example, ste...

In traditional teleoperation systems, the human operator is saddled with two distinct tasks: 1) moving the robot arm to its desired position, and 2) avoiding obstacles that can obstruct the robot arm manipulator. To accomplish these tasks, an area of current teleoperation research concentrates on providing the operator with as much input information about the task site as possible using, for ex...

A unique space robot is being developed by JAXA (Japan Aerospace Exploration Agency). Name of the robot is REX-J (Robot Experiment on ISS/JEM) and its mission is to evaluate technologies needed to realize the Astronaut Support Robot (Astrobot) and the next generation space robots (NGSR). Uniqueness of the robot is its locomotion method which is based on tethers. The robot is floated by tethers ...

Force control is very important for many practical manipulation tasks of robot manipulators, such as, assembly, grinding, deburring that associate with interaction between the end-effector of the robot and the environment. Force control of the robot manipulator can be break down into two categories: Position/Force Hybrid Control and Impedance Control. The former is focused on regulation of both...