This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot – 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to c...

The paper outlines the development of a telerobotic control system with a focus on maximising the versatility of both production equipment and human operators. This was achieved by integrating sensory feedback from end effectors into the human-machine control loop. For most robotic applications, the robot executes a series of point-to-point movements along a predefined path. When an application...

A method to nd the orientation and position of a three degree-of-freedom (DOF) accelerometer mounted on a six DOF industrial robot is proposed and evaluated on experimental data. The method consists of two consecutive steps, where the rst is to estimate the orientation of the sensor using data from static experiments. In the second step the sensor position relative to the robot base is identi e...

This paper proposes a potential‐based path planning algorithm of articulated robots with 2‐DOF joints. The algorithm is an extension of a previous algorithm developed for 3‐DOF joints. While 3‐DOF joints result in a more straightforward potential minimization algorithm, 2‐DOF joints are obviously more practical for active operations. The proposed approach computes r...

Magnetic resonance imaging (MRI) can be a very effective imaging modality for live guidance during surgical procedures. The rationale of MRI-guided surgery with robot-assistance is to perform surgical interventions utilizing “realtime” image feedback while minimize operation time and improves the surgical outcomes. However, challenges arise from electromagnetic compatibility within the high-fie...

Despite rapid advancements in dexterity and mechanical design, the utility of humanoid robots outside of a controlled laboratory setting is limited in part due to the complexity involved in programming robots to grasp common objects. There exists a need for an efficient method to command high degree-of-freedom (DoF) position-controlled dexterous manipulators to grasp a range of objects such tha...

In the field of bipedal locomotion, many researchers use controllers based on simple point mass models to achieve walking balance [1, 2, 3, 4, 5]. In these models, balance is ruled by center of mass (CoM) position and velocity, foot placement and its timing, and pushoff impulses. But is this also true for a more complex, many-DOF, robot? Does upper body motion significantly influence CoM dynami...

This paper generalizes the Time Domain Passivity Control concept originally introduced by J.-H. Ryu et al. (2004) in order to work for multi-degree of freedom (DoF) haptic systems with time delay. Its energy computation (named passivity observer) factors in the phase shift caused by time delay, and is improved by an energy estimation. Moreover, the variable damping of the passivity controller i...

This report documents the integration of machine vision into the minifactory environment. Minifactory is an automated factory system being developed at the Microdynamic Systems Laboratory at Carnegie Mellon University and is aimed toward the assembly of small mechatronic devices. Machine vision can aid assembly systems by eliminating the need for complicated part holding jigs, end effectors, an...

A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator’s dynamics based on...