dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

This article addresses prospective and retrospective responsibility issues connected with medical robotics. It will be suggested that extant conceptual and legal frameworks are sufficient to address and properly settle most retrospective responsibility problems arising in connection with injuries caused by robot behaviours (which will be exemplified here by reference to harms occurred in surgic...

This work is a case study in applying recent, high-level ethical guidelines, specifically concerning transparency and anthropomorphisation, to Human-Robot Interaction (HRI) design practice for real-world Socially Assistive Robot (SAR) application. We utilize an online investigate how the perception efficacy of SARs might be influenced by this practice, examining robot utterances display manipul...

Abstract. This paper presents a framework for the optimisation of the design of a medical robot to accomplish minimally invasive surgery. Surgical interventions are analysed in terms of workspace and accuracy requirements. As optimisation criterion, the minimisation of the overall size of the robot is considered since a compact design is important in an overcrowded environment such as the opera...

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...