Introduction Four generic types of construction robots have been suggested in [4]. They were an assembling robot, an interior finishing robot, an exterior wall finishing robot, and a horizontal floor finishing robot. The interior finishing robot, as explained there, was designated to execute various interior finishing operations, such as partition erection, painting, plastering, jointing, tapin...

A new type of spherical robot, called KisBot, is presented that includes arms and two types of driving mode: rolling and wheeling. In the rolling mode, the robot uses its arms as pendulums and works like a pendulum-driven robot, while in the wheeling mode, it extends its arms to the ground and works like a one-wheel car. The basic design idea of KisBot is introduced and a prototype is implement...

A method for force-free control is proposed to realize pull-out work by an industrial articulated robot arm. This method achieves not only non-gravity and non-friction motion of an articulated robot arm according to an exerted force but also reflects no change in the structure of the servo controller. Ideal performance of a pull-out work by the force-free control method was assured by means of ...

This paper describes the first prototype of a “Programming by demonstration” (PbD) system for position teaching of a robot manipulator. A new approach for enabling PbD using supervised learning is presented, by connecting a wearable input device for sensing human arm movements to the software controller of a robot arm. The method does not require analytical modelling of either the human arm or ...

recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. this paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called dual-arm cam-lock manipulator. the manipulator i...

The concept of wearability will be recognized very important in future robotics as in computer science. There is a strong possibility that wearable robots suggest a new direction for human-robot interaction. In this paper, we propose RoboWear, a wearable robot that a human operator wears on his arm for the purpose of human-robot interaction. The wearable robot can be used to amplify human power...

Problem statement: Present researches focus to make humanoid robots more and more autonomous so they can assist human in daily works like taking care of children, aged or disabled persons. In such social activities, the contemporary humanoid robots are expected to have human like morphology and gait. Studies on bipedal locomotion for humanoid robots are then part of the hottest topics in the fi...

Recent work has shown that 2-arm “fling” motions can be effective for garment smoothing. We consider single-arm fling motions. Unlike motions, which require little robot trajectory parameter tuning, are very sensitive to parameters. a single 6-DOF arm learns trajectories achieve high coverage. Given grasp point, the explores different parameterized in physical experiments. To improve learning e...

The robots are interacting with humans in various aspects. Safety issues are increased in various robot applications. Many robot arms have been introduced for safety. The passive compliance methods have faster and high reliability than active methods. In this paper, a new safety mechanism based on passive compliance is proposed. The variable stiffness joint employed spring and roller is economi...

The human upper limb possesses a high degree of freedom (DOF) and its redundant structure permits greater flexibility in various dexterous manipulations. The simplest structure of a multifingered robot arm is constructed by fixing a robot finger onto the end effector of a robot arm. A robot with such a structure is also called a macro-micro manipulator (Nagai & Yoshigawa, 1994, 1995; Yoshikawa,...