* 0-7803-7952-7/03/$17.00  2003 IEEE. Abstract – This paper presents a set of algorithms for use in simultaneous localization and mapping during haptic exploration. Several solutions are provided for the problem of a single spherical robot finger exploring a known smooth surface, starting with an unknown pose. Using pose estimates, pattern matching is performed between the robot’s internal mod...

In this paper, we show how a simulated humanoid robot controlled by an artificial neural network can acquire the ability to manipulate spherical objects located over a table by reaching, grasping, and lifting them. The robot controller is developed through an adaptive process in which the free parameters encode the control rules that regulate the fine-grained interaction between the agent and t...

This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-offreedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics equation is obtained by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical ...

This paper describes a new parallel robot with 6 degree of freedom (dof) and decoupled kinematics. The robot is composed of six legs with actuated prismatic joints; three legs control the spatial position of the center of the mobile platform, while the remaining legs are used to define the end effector orientation. The decouple kinematics is obtained by using a new approach for a triple spheric...

An analysis of the results of an algorithm for optimal trajectory planning of robot manipulators is described in this paper. The objective function to be minimized is a weighted sum of the integral squared jerk and the execution time. Two possible primitives for building the trajectory are considered: cubic splines or fifth-order B-splines. The proposed technique allows to set constraints on th...

As robots move into more human centric environments we require methods to develop robots that can naturally interact with humans. Doing so requires testing in the real-world and addressing multidisciplinary challenges. Our research is focused on Child-Robot Interaction which includes very young children, for example toddlers, and children diagnosed with autism. More traditional forms of human-r...

On account of the complex application environment and the large number of uncertain conditions for the palletizing robot, we do path-planning for the multiple joints robot by the algorithm based on Hierarchical Markov Decision Process. First, according to the actual working environment, we set the range of the robot’s motion and select the conventional movement combination as the basic set of t...

The design of a relatively new genre of aerial robots — a full-scale, bird-like flapping wing flying robot — is analyzed, modelled and validated through real experiments in this paper. Quaternions are used instead of Euler angles in the dynamical model to represent the flying robot orientation in 3D space in order to realize smoother rotational manoeuvres using spherical linear interpolation. E...

Human beings are highly efficient in maintaining standing balance under the influence of different perturbations. However, biped humanoid robots are far from exhibiting similar skills. This is mainly due to the limitations in the current control and modeling techniques used in humanoid robots. Even though approaches using the Linear Inverted Pendulum Model and the Preview Control schemes have s...

In this work we present a view-based approach for robot self-localization using a hemispherical camera system. We use view descriptors that are based upon Spherical Harmonics as orthonormal basis functions on the sphere. The resulting compact representation of the image signal enables us to efficiently compare the views taken at different locations. With the view descriptors stored in a databas...