Synthesis of robots may be decomposed into two processes: structural synthesis (determine the general arrangement of the mechanical structure such as the type and number of joints and the way they will be connected) and dimensional synthesis (determine the length of the links, the axis and location of the joints, the necessary maximal joint forces/torques,. . .). The performances that may be ob...

Many works in collaborative robotics and humanrobot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are calibrated in relation to each other and often the reconfiguration of the system is not possible, or extra manual work is required. We present a deep learning b...

With the rapid development of service robots, avoiding collisions with human beings is a most important requirement of robot control. In this paper, we propose a method in which a virtual potential field around a robot is established by stereovision to implement collision avoidance by using its redundant joints, while simultaneously completing a contact task with its hand.

A general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. The robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. The curvatures in pipeline are the most important constraints in front of the robot through navigation process. To study the adapt...

In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the actuators travel over the links to a given joint and adjust the relative angle between the two adjacent links. The joints passively preserve their angles until...

This paper attempts to develop a dynamic model and design a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot’s joints are actuated by DC motors antagonistically coupled through tendons. To ensure safe interaction with humans in a human-centered environment, the robot exploits passive mechanical compliance, in the form of elastic springs in the tend...

In this paper, a smooth regrasping control method of multi-fingered robot hand is proposed. First, four-fingered robot hand with 13 joints was built. Second, manipulation and grasping algorithm of four-fingered robot hand is easily calculated by applying the algorithm made for three-fingered robot hand to the two pairs of three-fingered robot hand. In order to reduce the vibration generated whi...