As robots are increasingly used in human-cluttered environments, the requirement of human-likeness in their movements becomes essential. Although robots perform a wide variety of demanding tasks around the world in factories, remote sites and dangerous environments, they are still lacking the ability to coordinate with humans in simple, every-day life bi-manual tasks, e.g. removing a jar lid. T...

BACKGROUND The increasing number of opportunities for human-robot interactions in various settings, from industry through home use to rehabilitation, creates a need to understand how to best personalize human-robot interactions to fit both the user and the task at hand. In the current experiment, we explored a human-robot collaborative task of joint movement, in the context of an interactive ga...

In this paper we present an application of ALECSYS, a distributed learning classifier system, to the control of a robot arm. ALECSYS is initialised with a set of randomly generated rules and is trained to control a robot arm whose task is to reach a non moving light source. At this point of our research our results are relative to the simulation of a real robot arm (IBM 7547 with a SCARA geomet...

This paper presents a summary of the system of "Reconfigurable Brachiating Space Robot". The robot consists of a center hub and three 6 degree-of-freedom arms with an end-effector and a pivot, which has a reconfigurable mechanism, for each arm. This space robot is capable of moving over the Japanese Experimental Module of the International Space Station in a brachiating manner and also of arm r...

A method for finding parallel arm robot structures with the same performance as the FlexPicker robot from ABB is presented. The method is very simple and based on systematic clustering of the links connected to the actuated platform of the robot. In the case of 3 DOF actuation, 3 new useful clustering schemes have been found. With these clustering schemes as a starting point, new parallel arm r...

This paper presents a new and simple procedure to identify link mass parameters used for gravity compensation and on-line automatic torque sensor calibration for a robot manipulator. The approach employs single-joint rotation and a recursive procedure that proceeds distally to proximally to identify composite mass moments. Experimental results are presented for the Sar-cos Dextrous Arm.

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...