A large number of landmarks selection techniques has been proposed. However, finding optimal solutions requires to solve some hard problems. In this paper, we consider the ρminimum overlapping region decomposition problem that was proposed for landmarks selection. This problem is NP-complete. We describe an approach to solve the problem optimally. This approach is based on an explicit reduction...

in this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. the majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. this requires the controller to overcome complex problems such as uncertainties and nonlinearit...

This chapter presents a behavioral mechanism of control in order to break the complexity of multi-robot control systems. Specifically, this chapter proposes a Hierarchical Action Selection Process (HASP) which aims to coordinate a set of elementary controllers endowed in behavioral control architectures. This process allows at the scale of the robot to coordinate in a hierarchical and flexible ...

The creation of mechanisms to control the behavior of mobile robots becomes increasingly complex with the complexity of the desired tasks and the environment involved. Evolutionary Robotics is a methodology for the automatic generation of robot control mechanisms using basic principles from natural evolution, i.e., mutation, recombination and selection. In this paper, a decentralized online-evo...

This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...

Abstract The large majority of previous work on human-robot conversations in a second language has been performed with human wizard-of-Oz. reasons are that automatic speech recognition non-native conversational is considered to be unreliable and the dialogue management task selecting robot utterances adequate at given turn complex social conversations. This study therefore investigates if robot...

In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...

modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...

– one of the important applications of robots is in material handling and transport of various shaped objects. in cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. this paper presents an analytical method for minimizing the oscillation of a suspended object during transport. this method...