Robots are envisioned to collaborate with people in tasks that require physical manipulation such as a robot instructing a human in assembling household furniture, a human teaching a robot how to repair machinery, or a robot and a human collaboratively completing construction work. These scenarios characterize joint actions in which the robot and the human must effectively communicate and coord...

The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is ess...

The subject of this paper is the design, control, and evaluation of a biped–climbing robot featuring a new hybrid hip joint. The hybrid hip provides both prismatic and revolute motion, discretely, to the robot, using a single actuator. This is intended to improve its adaptability in confined environments and its capability to maneuver over and around obstacles. Optimization of the hybrid hip jo...

This paper proposes a systematic method to identify the joint zero offset of industrial robot. Small offset always exist in robot joint, which affect the precision in kinematic equations leading to calculate wrong joint angle values. To solve these problems, the proposed method employs a portable dual Position Sensitive Detector (PSD) device and a focusable laser point (FLP). The portable dual ...

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. The proposed m...

This paper describes the use of an actuated toes joint in a humanoid robot to achieve human-like bipedal walking. The robot does not shorten the stance leg, but uses the segment between the ankle joint and the toes joint to over-extend the unloading leg in the double-support phase. Experiments with the servo-based humanoid robot Toni show that this approach leads to low energy-consumption in th...

The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the robot arm with an object occurs, local admittance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipu...

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for articulated robots. First, the configuration of a robot is designed using a set of robot joint angles derived from robot inverse kinematics. The joint space, which is made of a joint angle set, forms a Configuration space (Cspace). Obstacles in a robot work-cell are transformed into Cobstacles (obstacles...

The aim of this study is to employ the novel Adaptive Network-based Fuzzy Inference System to optimize the torque applied on the knee link of a rehabilitation robot. Given the special conditions of stroke or spinal cord injury patients, devices with minimum error are required for performing the rehabilitation exercises. After examining the anthropometric data tables of human body, parameters su...

According to bionics and simplified octopus structure, this paper designed a universal mobile quadruped robot and adopted Denavit-Hartenberg system to analyze the single leg kinematics of a robot, obtaining its kinematics equation. Also, through the method of separating variables, this paper solved its inverse kinematics and got the joint angle. A walking gait is planned and the joint angle of ...