This paper describes the approach followed in the design of a service robot for health care applications. Under the auspices of the NASA Technology Transfer Program, a partnership was established between JPL and RWI, a manufacturer of mobile robots, to design and evaluate a mobile robot for health care assistance to the elderly and the handicapped. The activities of the rst phase of the project...

In this paper, the authors establish a structured environment, in which environment knowledge is not only given to the visible robot that serves to people but also to the environment itself. It aims to provide services efficiently by using the visible robot and to construct a general system that information can be shared with the other robots. Through the experiment, it succeeded in constructin...

Locating known objects is an important task for robots. When a robot has a single camera located in its arm, the robot can use it to get pictures from multiple points of view. These pictures can be used for locating in 3D a desired object, when the object is found on the floor within a bounded distance from the robot. Here we propose a technique for planning a sequence of arm positions to be us...

Problem statement: Present researches focus to make humanoid robots more and more autonomous so they can assist human in daily works like taking care of children, aged or disabled persons. In such social activities, the contemporary humanoid robots are expected to have human like morphology and gait. Studies on bipedal locomotion for humanoid robots are then part of the hottest topics in the fi...

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. There has been a great deal of recent progress in biorobotic studies of locomotion, orientation, and vertebrate arm control. Abbreviations DOF – degrees of freedom; MEMS – micro-electromec...

This paper presents a control scheme to achieve dynamic stability in an aerial vehicle with dual multi-degree of freedom manipulators. Arm movements assist with stability and recovery for ground robots, in particular humanoids and dynamically balancing vehicles. However, there is little work in aerial robotics where the manipulators themselves facilitate flight stability or the load mass is rep...

Locating known objects is an important task for robots. When a robot has a single camera located in its arm, the robot can use it to get pictures from multiple points of view. These pictures can be used for locating in 3D a desired object, when the object is found on the floor within a bounded distance from the robot. Here we propose a technique for planning a sequence of arm positions to be us...

By exploiting centrifugal and Coriolis forces, simple, lowdegree-of-freedom robots can control objects with more degrees-of-freedom. For example, by allowing the object to roll and slip, a one-degree-of-freedom revolute robot can take a planar object to a full-dimensional subset of its state space. We present a dynamic manipulationplanner that finds manipulator trajectories to move an object fr...