this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...

We study groups of autonomous robots engaged in a foraging task as typically found in some ant colonies. The task is to find a prey object and a nest object, establish a path between the two, and transport the prey to the nest. Once a path is established, robots are recruited to the prey, self-assemble into a pulling structure and collectively transport the prey—which is too heavy for a single ...

In this paper, we present a time-discrete, incremental methodology for modeling, at the microscopic and macroscopic level, the dynamics of distributed manipulation experiments using swarms of autonomous robots endowed with reactive controllers. The methodology is well-suited for nonspatial metrics since it does not take into account robots’ trajectories or the spatial distribution of objects in...

Societies are formed as collaborative structures to execute tasks that are not possible or are otherwise difficult for individuals alone. There are many types of biological societies, but societies formed by machines or robots are still rare. The concept offers, however, interesting possibilities especially in applications where a long term fully autonomous operation is needed and/or the work t...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

the kinematics and dynamics of two industrial cooperating robots are presented in this paper. the noc (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. the joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. to this end, minimizing the cr...

Our previous work introduced a methodology for synthesizing and analyzing basic behaviors which served as a substrate for generating a large repertoire of higher{level group interactions (Matari c 1992, Matari c 1993). In this paper we describe how, given the substrate, agents can learn to behave socially, i.e. to maximize average individual by maximizing collective beneet. While this is a well...

We describe an immune inspired approach to achieve selfexpression within an ensemble, i.e. enabling an ensemble of autonomic components to dynamically change their coordination pattern during the runtime execution of a given task. Building on previous work using idiotypic networks, we consider robotic swarms in which each robot has a lymph node containing a set of antibodies describing conditio...

In this paper we present an evolutionary simulation in which a population of 10 mobile robots has to develop a simple behavior consisting in the discrimination of two different foraging areas present in the environment. We show that, given a minimal selective pressure, a combination of individual learning, social facilitation, and selection at the population level can lead to effective results....