gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. in this paper, a new robotic orthosis is presented for treadmill training. in the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

Behavior or Appearance? This is fundamental problem in robot development. Namely, not only the behavior but also the appearance of a robot influences human-robot interaction. There is, however, no research approach to tackling this problem. In order to state the problem, we have developed an android robot that has similar appearance as humans and several actuators generating micro behaviors. Th...

Pose graph optimization is an elegant and efficient formulation for robot localization and mapping. Experimental evidence suggests that, in real problems, the set of measurements used to estimate robot poses is prone to contain outliers, due to perceptual aliasing and incorrect data association. While several related works deal with the rejection of outliers during pose estimation, the goal of ...

One of the fundamental issues in the field of Evolutionary Robotics (ER) is that of selection and formulation of an appropriate performance training metric. In recent years, proof-of-concept studies have shown that simple behavioral robotics problems, such as homing and foraging, are amenable to ER methods. However, the question of scalability remains unresolved. Several researchers have shown ...

Selecting the most suitable robot among their wide range of specifications and capabilities is an important issue to perform the hazardous and repetitive jobs. Companies should take into consideration powerful group decision-making (GDM) methods to evaluate the candidates or potential robots versus the selected attributes (criteria). In this study, a new GDM method is proposed by utilizing the ...

SLAM (Simultaneous Localization and Mapping) is a fundamental problem when an autonomous mobile robot explores an unknown environment by constructing/updating the environment map and localizing itself in this built map. The all-important problem of SLAM is revisited in this paper and a solution based on Adaptive Unscented Kalman Filter (AUKF) is presented. We will explain the detailed algorithm...

In this paper, we study the “Multi-Robot Routing problem” with min–max objective (MRR-MM) in detail. It involves assignment of sequentially ordered tasks to robots such that maximum cost slowest robot is minimized. The problem description, different types formulations, and methods used across various research communities are discussed paper. We propose a new formulation by treating as permutati...