This paper introduces a new method for improved integrated angle sensing in the foldable robot joints (hinges), using low-cost inkjet printed sensors and novel physical intelligence based compensation approach. Silver nanoparticle are on flexible PET substrate as hinge material implemented pairs of compression tension side folding individuals into rigid experimental setup. Resulting combined si...

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...

Manufacturing technologies are becoming continuously more diversified over the years. The increasing use of robots for various applications such as assembling, painting, welding has also affected the field of machining. Machining robots can deal with larger workspaces than conventional machine-tools at a lower cost and thus represent a very promising alternative for machining applications. Furt...

In this paper, we present the development of postural expressions of emotions for the humanoid robot Nao in an assistive context. The approach is based on the adaptation of human body postures to the case of the Nao robot. In our paper, the association between the joints of human body and the joints of Nao robot are described. The postural expressions are studied for three emotions anger, sadne...

This article presents passive impedance control of flexible joint robots (FJRs) via inner-loop torque elastic joints. However, according to our theoretical analysis, the methods series actuators (SEAs) are often limited by fact that acceleration signals amplified gains. Since affected differentiation noise, analysis may become invalid in practice. To alleviate this limitation, we propose use so...

The joint controllers used in robots like the Sony Aibo are designed for the task of moving the joints of the robot to a given position. However, they are not well suited to the problem of making a robot move through a desired trajectory at speeds close to the physical capabilities of the robot, and in many cases, they cannot be bypassed easily. In this paper, we propose an approach that models...

In this paper, the method that allows for the combined control scheme of the imitation and autonomous control for a humanoid robot via Internet is presented. Our approach does not use any prior analytical or mathematical robot modeling (e.g. forward or inverse kinematics). All the way from the human operator with encoders to the humanoid joints, many server motors and encoders are connected wit...