Mobile mechanical manipulators are one of the automation aspects which were revealed in last years of twentieth century. These machines assume the responsibility of human and gradually expand the domain of their activities in industry. This paper is a presentation of the Sweeper Robot designed in the Robotic Laboratory of Iran University of Science and Technology. The original design of this ro...

Autonomous navigation of a mobile robot along a predefined trajectory is a widely studied problem in the robotics community. As an alternative to Cartesian trajectories, we propose to define trajectories as sequences of sensory-motor information. In this paper we show that such a representation is suitable for navigating on the trajectory. To this end, we describe an architecture of Bayesian in...

Recently, interest in analysis and generation of human and human-like motion has increased in various areas. In robotics, in order to operate a humanoid robot, it is necessary to generate motions that have strictly dynamic consistency. Furthermore, human-like motion for robots will bring advantages such as energy optimization. This paper presents a mechanism to generate two human-like motions, ...

In the last paper, we proposed a winding and reaching control technique using a physical index of horizontal constraint force for a 3D snake-like robot. Using a snake like robot called SMA, the validity of the methods was shown experimentally. In this paper control methods in the last paper are summarized and a control method of an active impedance control of vertical joints is proposed for win...

In this work, a Modified Vector Field Histogram (MVFH) has been developed to improve path planning and obstacle avoidance for a wheeled driven mobile robot. It permits the detection of unknown obstacle to avoid collisions by simultaneously a steering the mobile robot toward the target; a regular grid map representation for a work space environment is caurried out. A Neural Network (NN) model is...

People sometimes perceive a mind in inorganic entities like robots. Psychological research has shown that mind perception correlates with moral judgments and that immoral behaviors (i.e., intentional harm) facilitate mind perception toward otherwise mindless victims. We conducted a vignette experiment (N = 129; Mage = 21.8 ± 6.0 years) concerning human-robot interactions and extended previous r...

Probo is a huggable animal-like robot, designed to act as a social interface. It will be used as a platform to study human robot interaction (HRI) while employing human-like social cues and communication modalities. The robot has a fully actuated head, with 20 degrees of freedom, capable of showing facial expressions and making eyecontact. The basic facial expressions are represented as a vecto...

Abstract. Passive walkers are robots that can produce a stable cyclical movement similar to walking on mildly inclined surfaces. In recent years, various investigations have been conducted on this subject. Since this is a new field of research, the effect of structural parameters on the movement of these walkers and the development of more human-like movement models can be further investigated....

This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...