As robots are starting to become part of our daily lives, they must be able cooperate in a natural and efficient manner with humans socially accepted. Human-like morphology motion often considered key features for intuitive human–robot interactions because allow human peers easily predict the final intention robotic movement. Here, we present novel planning algorithm, Upper-limb Motion Planner,...

scheduling is an important subject of production and operations management area. in flow-shop scheduling, the objective is to obtain a sequence of jobs which when processed in a fixed order of machines, will optimize some well defined criteria. the concept of transportation time is very important in scheduling. transportation can be done by robots. in situations that robots are used to transpor...

Arvand is the name of robots specially designed and constructed by sharif CE team for playing soccer according to RoboCup rules and regulations for the middle size robots. Two diierent types of robots are made, players and the goal keeper. A player robot consists of three main parts: mechanics (motion mechanism and kicker), hardware (image acquisition, processing unit and control unit) and soft...

This paper proposes a multi-objective genetic algorithm to optimize a manipulator trajectory. The planner has several objectives namely the minimization of the space and join arm displacements and the energy required in the trajectory, without colliding with any obstacles in the workspace. Simulations results are presented for robots with two and three degrees of freedom, considering the optimi...

A scene analysis module for service robots is presented which uses SIFT in a stereo setting, a systematic handling of uncertainties and an active perception component. The system is integrated and evaluated on the DESIRE two-arm mobile robot. Complex everyday scenes composed of various items from a 100-object database are analyzed successfully and efficiently.

We show that paths for dexterous robots can be generated in a few seconds or less using parallel informed randomized search on multicomputers. The experimental results we present have been obtained for a simulated 7-jointed arm operating in realistic 3D workspaces. We also present a new method for predicting the solution times that our parallel formulation can deliver on increasing numbers of p...

How is communicative gesture behavior in robots perceived by humans? Although gesture is a crucial feature of social interaction, this research question is still largely unexplored in the field of social robotics. The present work thus sets out to investigate how robot gesture can be used to design and realize more natural and human-like communication capabilities for social robots. The adopted...

This paper describes the development of an autonomous robot for painting the interior walls of buildings. The robot consists of a painting arm with an end effector roller that scans the walls vertically and a mobile platform to give horizontal feed to paint the whole area of the wall. The painting arm has a planar twolink mechanism with two joints. Joints are driven from a stepping motor throug...

Since a variety of recent changes in both robotic hardware and software suggests that service robots will soon become possible, to nd \natural" ways of communication between human and robots is of fundamental importance for the robotic eld. This paper describes a gesture-based interface for human-robot interaction, which enables people to instruct robots through easy-to-perform arm gestures. Su...

Biorobotics is a promising new area of research at the interface between biology and robotics. Robots can either be used as physical models of biological systems or be directly inspired by biological studies. A great deal of progress has recently been made in biorobotic studies of locomotion, orientation, and vertebrate arm control.