The problem to ensure safety of performant robot arms during task execution was previously investigated by authors in [1], [2]. The problem can be approached by studying an optimal control policy, the “Safe Brachistocrone”, whose solutions are joint impedance trajectories coordinated with desired joint velocities. Transmission stiffness is chosen so as to achieve minimum–time task execution for...

Robot manipulators are thought of as a set of one or more kinematic chains, composed by rigid bodies (links) and articulated joints, required to provide a desired motion to the manipulator’s end–effector. But even though this motion is driven by control signals applied directly to the joint actuators, the desired task is usually specified in terms of the pose (i.e., the position and orientation...

A new neural network (NN) control technique for robot manipulators is introduced in this paper. The fundamental robot control technique is the model-based computed-torque control which is subjected to performance degradation due to model uncertainty. NN controllers have been traditionally used to generate a compensating joint torque to account for the eeects of the uncertainties. The proposed N...

Cognitive scientists and developmental psychologists have suggested that development in perceptual, motor and memory functions of human infants as well as adaptive evaluation by caregivers facilitate learning for cognitive tasks by infants. This article presents a robotic approach to understanding the mechanism of how learning for joint attention can be helped by such functional development. A ...

In this paper, we propose a simplified variable admittance controller applied to robot joint control. It is based on a virtual agonist-antagonist mechanism (VAAM) consisting of contractile and parallel elements (CEs and PEs). ”Virtual” here means that every joint physically actuated by a standard servo motor can produce variably compliant motions as if it were driven by a pair of agonist and an...

The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of the humanoid robots’ kinematics. In this paper we exploit the similarity between the movements of a humanoid robot and human movements to generate joint trajectories for such robots. In particular, we show how to transform human motio...

SYNOPSIS: The biorobotics group at CWRU follows a strategy of close interaction between engineers and neurobiologists to create improved robot designs and gain insights into neural control of legged locomotion. A series of legged vehicles has been developed. The first 2 robots were not based upon a particular insect. Robot I walked with insect gaits using network controllers. Robot II walked on...

We analyze the behavior of redundant robots when the joint motion is generated by inverting task velocity commands through a kinematic control scheme. Depending on the chosen inversion scheme, the robot motion is subject to differential constraints that may or may not be integrable. Accordingly, we give a classification in terms of holonomic, partially nonholonomic, and completely nonholonomic ...

This research addressed whether interactions with social robots could facilitate joint attention of the autism spectrum disorder (ASD). Two conditions of initiators, namely “Human” vs. “Robot” were measured with 15 children with ASD and 15 age-matched typically developing (TD) children. Apart from fixation and gaze transition, a new longest common subsequence (LCS) approach was proposed to anal...

There are many circumstance limits to human like extreme radioactivity, temperature, chemical toxicity, pressure and so on. But, we need to detect and research region for making our sure safe and state. During long time, human have made a robot that have multi-joint biped robot and mobile robot using wheels. And now, that is developing but it still has some problem that is occurred by condition...