A psychological experiment was conducted to straightforwardly investigate the effects of polite behaviors expressed by robots in Japan, using a small-sized humanoid robot that performed four types of behaviors with voice task instructions. Results of the experiment suggested that the subjects who experienced “deep bowing” motion of the robot felt it more extrovert than those who experienced “ju...

In this paper a roll-walking motion of a robot with a multi-rotor drive system is considered. The robot represents a rigid body with the multi-rotor drive system which consists of pairs of conjugate rotors located on the main axes. The multi-rotor drive system allows using conjugate spinups and captures of conjugate rotors to perform roll-walking motion of the robot. To perform a single step of...

A planning technique for six-legged walking robot is presented in this thesis along with a terrain modelling approach that allows to exploit possible supporting footholds of the surface. The proposed approach for merging measurements provided by a depth camera sensor allows to reconstruct the robot surrounding. Based on the measurements of the environment, a grid based elevation map is construc...

The purpose of the senior design project, from the course description of objectives is "To provide students a complete design experience, including the necessity to set design goals and objectives, integrate knowledge, exercise engineering judgment, plan to meet a budget and schedule, to work as a team member, and to communicate in writing." To accomplish these objectives our group, Helping Han...

We present a motion stabilization system for a biped robot th at makes it possible to keep relative postu re and position to a moving or stationary object. O u r system consists of tw o layers of control su bsystems, gaze control system and motion control system. In order to ach ieve an actu al motion w h ich follow s exactly a sch edu led one, th e biped robot gazes a target to estimate errors...

Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The propo...

This paper deals with implementation of a distributed controller for a humanoid robot. This teen sized humanoid robot Archie is currently under development. The main idea is to develop a cost oriented humanoid robot (COHR) to assist humans for their daily life. After a short description of the existing hardware, the control is described. The control is realized by a PI controller for position a...

A potential-based genetic algorithm is proposed for the motion planning of robot swarms. The proposed algorithm consists of a global path planner and a motion planner. The global path planning algorithm plans a trajectory, which the robot swarm should follow, within a Voronoi diagram of the free space. The motion planning algorithm is a genetic algorithm based on artificial potential models. Th...

The paper presents a method for a simple and immediate motion planning of a SCARA robot, whose end-effector has to move along a given trajectory; the calculation procedure requires the user to define in analytical form or by points the trajectory to be followed and to assign the curvilinear abscissa as function of the time. On the basis of the geometrical characteristics of the robot, a specifi...

This paper presents an efficient strategy for integrating lowlevel reactive behavior control and high-level global planning for robot motion. In low-level behavior control, robot navigation in unknown environments is performed by behavior fusion using fizzy logic; while a high-level planning method is used to determine robot motion direction since some information on environments is prior knowl...