In the future of automated production processes, manipulator must be more efficient to complete certain tasks. Compared single-arm robots, dual-arm robots have a larger workspace and stronger load capacity. Coordinated motion planning multi-arm is problem that solved in process robot development. This paper proposes an obstacle avoidance path method for based on goal probability bias cost funct...

Embedding computational models in the physical world is a critical step towards constraining their behavior and building practical applications. Here we aim to drive a realistic musculoskeletal arm model using a biomimetic cortical spiking model, and make a robot arm reproduce the same trajectories in real time. Our cortical model consisted of a 3-layered cortex, composed of several hundred spi...

A robot arm/manipulator finds its applications in variety of areas to takeaway the processes which are repetitive, highly multifaceted and perilous, destructive or of high-precision in its nature. Robot manipulators are intended to use in object sorting applications because of its high accuracy and precision operation. Robot manipulator shows many advantages when it is networked and automated w...

Redundant robots have received increased attention during the last decades, since they provide solutions to problems investigated for years in the robotic community, e.g. task-space tracking, obstacle avoidance etc. However, robot redundancy may arise problems of kinematic control, since robot joint motion is not uniquely determined. In this paper, a biomimetic approach is proposed for solving ...

We present an automated planning application for generating 3D tasks demonstrations involving a teleoperated robot arm on the International Space Station (ISS). A typical task demonstration involves moving the robot arm from one configuration to another. Our objective is to automatically plan the position of virtual cameras to film the arm in a manner that conveys the best awareness of the robo...

Braided pneumatic artificial muscles, and in particular the better known type with a double helical braid usually called the McKibben muscle, seem to be at present the best means for motorizing robotarms with artificial muscles. Their ability to develop high maximum force associated with lightness and a compact cylindrical shape, as well as their analogical behavior with natural skeletal muscle...

In assistive robotics, a manipulator arm constitutes one possible solution for restoring some manipulation functions to victims of upper limb disabilities. The aim of this paper is to present a global strategy of approach of an assistive mobile manipulator (manipulator arm mounted on a mobile base). A manipulability criterion is defined to deal with the redundancy of the system. The aim is to k...

This paper presents a novel and generic reactionless visual servo controller for a satellite-based multi-arm space robot. The controller is designed to complete the task of visually servoing the robot’s end-effectors to a desired pose, while maintaining minimum attitude disturbance on the base-satellite. Task function approach is utilized to coordinate the servoing process and attitude of the b...

As robots begin to permeate the everyday human workspace to collaborate in innumerable and varied tasks, the robotic structure must adhere and replicate human-like gestures for effective interaction. Whether rehabilitation or augmentation, upper arm human-robot interaction is some of the most prevalent and investigated forms of collaboration. However, currently robotic control schemes fail to c...

In this paper, an arm trajectory generation method based on the Rapidly-Exploring Random Tree Star (RRT*) is proposed for humanoid robot. The RRT* is one of anytime motion planning algorithms. The RRT* adopts the three fundamental components from the RRT, the preceding version of RRT*: the state variables, local planner, and cost function. The end effector of humanoid robot is positioned on the...