As robots are increasingly used in human-cluttered environments, the requirement of human-likeness in their movements becomes essential. Although robots perform a wide variety of demanding tasks around the world in factories, remote sites and dangerous environments, they are still lacking the ability to coordinate with humans in simple, every-day life bi-manual tasks, e.g. removing a jar lid. T...

Knowledge of the human multi-joint arm viscoelastic properties is essential in the assistance of building human-like robots. In this paper, a robust estimation method of human multi-joint arm viscoelasticity during natural movement is reviewed, a human arm-like robot control scheme using the measured viscoelasticity from estimation method is proposed. In order to imitate how to adjust the human...

In this paper, we have reported results of the experimental tests for validating and characterizing a new design and its operation for a humanoid robot arm with one actuator only. The core of the arm system consists of clutches that are activated or deactivated according to a programmed manipulation path-planning. Experimental tests are discussed with measured results to characterize the functi...

We proposed a programmable system that control robotic arm to grasp objects with human interaction. We are able to detect multiple objects of various types. Our system invloves hand-eye calibration which determines the camera pose, vision detection which extract representative positions of objects, preprocessing which sets everything fine for vision algorithm, underlying control which actually ...

In this paper, a method is proposed for humanoid robots performing object transfering task in a teleoperated cooperative paradigm. The cooperative task is accomplished using simple communication among two humanoid robots and then switch between modes according to the situation. In case of object passing with two humanoid robots, mutual position shifts may occur while they are moving. Therefore,...

In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...

In this paper, a motion planning method based on the Soft Actor-Critic (SAC) is designed for dual-arm robot with two 7-Degree-of-Freedom (7-DOF) arms so that can effectively avoid self-collision and at same time joint limits singularities of arm. The left-arm right-arm each have neural network to control its position orientation. Dual-agent training, distributed training structure, progressive ...

The paper describes a robot control and coordination framework for the automation of surgical tasks. In the proposed framework, surgeons do not interact with robots by means of teleoperation, but they are supported by autonomous robotic assistants. Such robots perform basic surgical actions by combining sensing, dexterity and cognitive capabilities. The goal is achieved thanks to rigorous asses...

This work investigates designing social interactions for robots that are large and sturdy, and whose bodies may be not built proportionally to human. A modified version of Baxter robot was used. We examined the usage of facial expression, social dialogue, and arm movement to make people feel comfortable to interact with the robot. Our results show that body language may play a more important ro...