In this paper, an arm trajectory generation method based on the Rapidly-Exploring Random Tree Star (RRT*) is proposed for humanoid robot. The RRT* is one of anytime motion planning algorithms. The RRT* adopts the three fundamental components from the RRT, the preceding version of RRT*: the state variables, local planner, and cost function. The end effector of humanoid robot is positioned on the...

In this paper, an adaptive synchronization sliding mode control is proposed for a dual-arm robot against parameter variations, external disturbance, and unknown directions. The designed by using cross-coupling error to guarantee the position of manipulator. objective synchronize movement both arms beside trajectory tracking issue. order manage lumped uncertainties caused directions, extended st...

Abstract Dynamic movement primitives (DMPs) as a robust and efficient framework has been studied widely for robot learning from demonstration. Classical DMPs mainly focuses on the in Cartesian or joint space, can't properly represent end-effector orientation. In this paper, we present an extended (EDMPs) both space 2-Dimensional (2D) sphere manifold Quaternion-based orientation generalization. ...

The goal of our study is to obtain a precise dynamic model by applying the technique of system identification for the model-based control of a nonlinear robot arm, taking joint-elasticity into consideration. We previously proposed “decoupling identification method” for a planar serial two-link robot arm with elastic-joints caused by the Harmonicdrive reduction gears. First, this paper reviews t...

Coordinated control strategies for multi-robot systems are necessary for tasks that cannot be executed by a single robot. This encompasses tasks where the workspace of the robot is too small or where the load is too heavy for one robot to handle. Using multiple robots makes the task feasible by extending the workspace and/or increase the payload of the overall robotic system. In this paper, we ...

On a voluntary basis, 10 adolescents with hemiparesis due to cerebral palsy and 11 neurologically healthy control subjects participated in this proof-of-concept pilot study. The aim was to examine the effects of robot-assisted training for the unaffected arm in patients with hemiparetic cerebral palsy. Baseline comparison between the unaffected arm of the hemiparetic patients with cerebral pals...

In this project, a tele-operated anthropomorphic robotic arm and hand is designed and built as a versatile robotic arm system. The robot has the ability to manipulate objects such as pick and place operations. It is also able to function by itself, in standalone mode. Firstly, the robotic arm is built in order to interface with a personal computer via a serial servo controller circuit board. Th...

Dynamic neuro-controllers are incrementally evolved for reaching and tracking movements by a physically simulated robot arm. An active vision system capable of controlling gaze direction and focus replaces the need for internal models of the robot. It is shown that closing the feedback loop allows for robot control being robust to changes in environment, sensors and robot-morphology.

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. This dynamics coupling is unique characteristics of space robo...

Recent studies have suggested that physical rehabilitation performed with robotic devices can enhance arm movement recovery following stroke. In these studies, the robotic devices mechanically assisted arm movement as the patient attempted to move. Although this “robotic active assist” technique has shown promise, a key question remains unanswered: is the mechanical assistance provided by the r...