Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sampled while the robot is tracking reference trajectories that excite the system dynamics. This allows using linear least-squares techniques to estimate the parameters. This method requires the joint force/torque and posit...

in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

in this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using b-spline curves. the trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. due to gait design considerations it is desired to minimize the required torques in a cycle of gait. similar to caterpillars,...

The inverse kinematics solution of an industrial robot may provide multiple robot configurations that all achieve the required goal position of the manipulator. In the absence of obstacles, multiplicity resolution can be achieved by selecting the robot configuration closest to the current robot configuration in the joint space. An evolutionary approach based on a real-coded genetic algorithm is...

Biped robot locomotion is one of the active research areas in robotics. In this area, real-time stable walking with proper speed is one of the main challenges that needs to be overcome. Central Pattern Generators (CPG) as one of the biological gait generation models, can produce complex nonlinear oscillation as a pattern for walking. In this paper, we propose a model for a biped robot joint tra...

The vibration of robot joint reducer is the main factor that causes vibration or motion error of robot system. To improve the dynamic precision of robot system, the cycloid ball transmission used in robot joint is selected as study object in this paper. An efficient dynamic modelling method is presented-lumped stiffness method. Based on lumped stiffness method, a translational-torsional couplin...

In this paper we present results of our ongoing research on non-verbal human-robot interaction that is heavily inspired by recent experimental findings about the neuro-cognitive mechanisms supporting joint action in humans. The robot control architecture implements the joint coordination of actions and goals as a dynamic process that integrates contextual cues, shared task knowledge and the pre...

The role of input noise is seldom considered in robot calibration. The methodology of total least squares may be applied to handle both input and output noise in robot calibration. Experimentally, we apply this method towards joint torque sensor calibration, and towards kinematic calibration of a redundant parallel-drive spherical joint in a variant called the implicit loop method.

A human-like intelligent robot is expected to have the capability to develop its cognitive functions through experience without a priori knowledge or explicit teaching. In addition, the realization of this kind of robot can lead us to understand the developmental mechanisms of human beings. This paper proposes a bootstrap learning model by which a robot can acquire the ability of joint attentio...