| This paper addresses motion planning for a mobile robot moving on a hilly three dimensional terrain and subjected to strong physical interaction constraints. The main contribution of this paper is a planning method which takes into account the dynamics of the robot, the robot/terrain interactions , the kinematic constraints of the robot, and classical constraints. The basic idea of our method...

Using pre-recorded human motion and trajectory tracking, we can control the motion of a humanoid robot for free-space, upper body gestures. However, the number of degrees of freedom, range of joint motion, and achievable joint velocities of today’s humanoid robots are far more limited than those of the average human subject. In this paper, we explore a set of techniques for limiting human motio...

There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...

Robust detection of moving objects from an aerial robot is required for safe outdoor navigation, but is not easily achieved because the motion is two fold: motion of the moving object and motion of the robot itself. Our goal is to have the robot identify the actual moving objects from the dynamic camera view space, track the moving objects and give the right command to avoid any potential impac...

A new robot path planning methodology called obstacle accommodation has been introduced for robots in cluttered environments. This methodology does not attempt to avoid physical contact between a robot and obstacles. Instead, it controls the contact to prevent damage to the robot. Obstacle accommodation represents a new robotic paradigm in which obstacles can contact robots at unspecified posit...

We present a method using simple mechanisms to perform a real time imitation on a humanoid robot. Instead of focusing on the fidelity of the motion, we will rather focus on what controllers have to be activated to perform a desired motion. The originality of our approach is to work in the task spaces of the robot in order to solve simultaneously the identification and the execution of a motion....

As society ages, it is expected that robots will play important roles in the context of social welfare and service in the home and office. These robots must be able to coexist and cooperate with humans. One of the most important tasks that these robots may perform is handing over objects to a human. Many people hand over objects to each other accompanied by voice greetings; the hand-over motion...

A mobile robot needs to perceive the motions of external objects to perform tasks successfully in a dynamic environment. We propose a set of algorithms for multiple motion tracking from a mobile robot equipped with a monocular camera and a laser rangefinder. The key challenges are 1. to compensate the ego-motion of the robot for external motion detection, and 2. to cope with transient and struc...

This paper utilizes the idea of “robot ergonomics” in which robotic tasks are evaluated according to ergonomics criteria. Robot performance is continuously reeorded in terms of total motion for each robotic link, the load applied on each joint, and the accuracy of each motion. Evaluating robot motion can assist in the design of a robotic cell, where robot position and layout of peripheral equip...