In this paper we outline the development of CAESAR, a domestic service robot with which we participated in the robot competition RoboCup@Home for many years. We sketch the system components, in particular the parts relevant to the high-level reasoning system, that make CAESAR an intelligent robot. We report on the development and discuss the lessons we learnt over the years designing, developin...

ABSTRACT: A key issue in the research of an autonomous mobile robot is the design and development of an intelligent controller which can control and enables the robot to navigate in a real world environment, avoiding structured and unstructured obstacles especially in crowded and unpredictably changing environment, whether it is in land, underground, under water, on the air or in space. An inte...

An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inp...

This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode controller associated with the output feedback control to achieve a successful trajectory tracking of a non-holonomic wheeled mobile robot in presence of longitudinal and lateral slip accompanied. This implementation offers a relatively faster and high precision tracking performance. We investigate this...

The software control system for ISAC is described. ISAC is a humanoid robot designed and built by researchers at the Intelligent Robotics Laboratory in the Center for Intelligent Systems at Vanderbilt University. The robot was designed for close human interaction with the goal of enabling it to become intelligent. Possible requirements for intelligence in a robot are presented with reasons for ...

The purpose of the senior design project, from the course description of objectives is "To provide students a complete design experience, including the necessity to set design goals and objectives, integrate knowledge, exercise engineering judgment, plan to meet a budget and schedule, to work as a team member, and to communicate in writing." To accomplish these objectives our group, Helping Han...

Human-robot interaction studies and human-human interaction studies often obtain similar findings. When manipulating high-level apparent cognitive cues in robots, however, this is not always the case. We investigated to what extent the type of agent (human or robot) and the type of behavior (honest or dishonest) affected perceived features of agency and trustworthiness in the context of a compe...

Vision is one of the most important subsystems of an intelligent robot. Without vision, a robot can repeat only one predetermined job sequence where objects are espectcd to be at predetermined places. Moreover, slight disturbances can cause unpredictable circumstances in the robot environment which might prevent the robot from continuing its job scquence. Such a robot system lacks flcxibility a...