The dynamics model considering payload eccentricity and friction effects of an omni-directional mobile robot is first derived using Lagrange’s equation. Based on the dynamics model with uncertainty, a stable adaptive fuzzy control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term and a fuzzy fun...

This paper develops the concept of reduction-based control, which is founded on a controlled form of geometric reduction known as functional Routhian reduction. We prove a geometric property of general serial-chain robots termed recursive cyclicity, identifying the inherent robot symmetries that we exploit with the Subrobot Theorem. This shows that any serial-chain robot can be decomposed for a...

Throughout a lifetime of operation, a mobile service robot needs to acquire, store and update its knowledge of a working environment. This includes the ability to identify and track objects in different places, as well as using this information for interaction with humans. This paper introduces a long-term updating mechanism, inspired by the modal model of human memory, to enable a mobile robot...

Robot audition systems require capabilities for sound source separation and the recognition of separated sounds, since we hear a mixture of sounds in our daily lives, especially mixed of speech. We report a robot audition system with a pair of omni-directional microphones embedded in a humanoid that recognizes two simultaneous talkers. It first separates the sound sources by Independent Compone...

A hierarchical robot navigation system has been developed and implemented on a range of real and simulated mobile robots for two independent research applications. One application is a study on emotion-modulated navigation. The other is an investigation of heterogeneous multi-robot navigation. The navigation framework shared by the various implementations is described. A multi-layered architect...

This paper describes the design, implementation and test of a goalkeeper robot for the Middle-Size League of RoboCup. The goalkeeper task is implemented by a set of primitive tasks and behaviors, coordinated by a 2-level hierarchical state machine. The primitive tasks concerning complex motion control are implemented by a non-linear control algorithm, adapted to the di erent task goals (e.g., f...

A fuzzy system based on the obtained information of four infrared (IR) sensors and one electronic compass is proposed and implemented on a humanoid robot to avoid obstacles. A humanoid robot named TWNHR-3 with 26 degrees of freedom (DOFs) is designed so that it can do five basic motions. Four IR sensors and one electronic compass are installed on TWNHR-3 to detect the environment information in...

Map information is important for self localization and path planning when mobile robots accomplish autonomous tasks. We use 3D environment model containing color data and structure data of the environment. We propose a method for image memory based navigation of a mobile robot with 3D-2D edge matching by using a 3D environment model. Our proposed self localization method is composed of two phas...

This paper deals with the problem of how to control the movement of a simple robot which has the goal to reach a specified target within finite time and to stay within some pre-defined distance to it. The system's design proposed is as minimal as possible and reflects the basal reflex arc as observed in biological systems. The dynamics is due to a multiplicatively modified random walk. In parti...