We consider the problem of cooperative manipulation to improve positioning and path following abilities of humans. Using a specially designed actuated manipulator and “steady hand” manipulation we report on compliant path following strategies and their experimental evaluation. Detecting lines and simple curve by processing images from an endoscope mounted on the robot, we traverse these curves ...

Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This paper discusses the development of robotic "assistance" capabilities to aid workers in the accomplishment of a variety of physical operations and presents various control strategies developed for vehicle-arm coordination, compliant motion tasks, and co...

Street, George W. Bush).” How on earth did we reach the point where genetically modified food became a cultural difference between Europeans and Americans? A legislative initiative proposing the labeling of food produced using genetically modified ingredients was actually rejected by the majority of voters in California. Why is genetic engineering associated in our minds with a sense of danger ...

This paper addresses determination of trajectories and force distribution for cooperative manipulation with two arms through optimizing an integral cost function that depends on the actuator forces. We compare the calculated trajectories with the measurements on human subjects performing planar manipulation tasks. Our ndings suggest that the trajectories and forces used by humans can be predict...

The paper deals with the problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of suitably exploiting the extra dof’s offered by the vehicle for better accomplishing the assig...

This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis robot is presented. Second, objective function formulated forward equations. The does not require using any Jacobian matrix nor its estimation; for this reason, proposed suffer from singularities, which common problem with convent...

This paper describes the Six-legged Integrated Locomotion and Manipulation Robot with an omni-directional walking mechanism and 4 d.o.f. manipulator. The walking mechanism consists of a parallel link mechanism connecting the two frames with three linear actuators, and this robot has six extendable legs and can move in any direction. The relative position and angle of the two frames are selected...

In this paper, we report a cooperative manipulation method for non-contact robotic electromagnetic needle system. We employ two 3 degrees of freedom (DOF) needles to achieve an over-actuated manipulator, which can move the particle any position in planar workspace from direction. The redundant DOFs, combined with optimization-based control approach, enable manipulator accurate path following an...

Cooperative virtual environments, where users simultaneously manipulate objects, is one of the subfields of Collaborative virtual environments (CVEs). In this paper we simulate the use of two string based parallel robots in cooperative teleoperation task. Two users setting on separate machines connected through local network operate each robot. In this context, we investigate the effects of vis...