In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour based on theoretical models. Instead, current methods to develop robot control code ...

One of the most important research field in mechatronics, and particularly in robotics, regards the estimation of the dynamic parameters of a general mechanical system. Many researchers have tried to understand how obtain a good dynamic parameters estimation and what are the best methodologies to apply in order to find them; now some already tested methods are widely available (see, for example...

The idea of a robot as a long-term companion has not been widely accepted and sometimes not even considered or imagined. Hence, several issues should be addressed in order to facilitate this long-term human-robot interaction. This work focuses on the memory modelling for artificial companions and its forgetting processes by proposing a novel approach based on hierarchical classification data mi...

Superior performance of industrial robots can only be achieved if the interaction of mechanics, electronics and software is taken into account already in the design phase. Conventional approaches to modelling, however, cannot cope with such multi-physics systems. The new Modelica modelling language has been specifically developed for this purpose. It also significantly increases re-usability of...

Discrete event systems are presented as a powerful framework for a large number of robot control tasks. This paper presents a general description of the discrete event modelling and control synthesis for robot manipulation. Additionally, methods for the eeec-tive monitoring of the process based on the detection and identiication of discrete events are given. The eeectiveness and versatility of ...

In the growing field of rehabilitation robotics, the modelling of a real robot is a complex and passionate challenge. On the crossing point of mechanics, physics and computer-science, the development of a complete 3D model involves the knowledge of the different physic properties, for an accurate simulation. In this paper, it is proposed the design of an efficient three-dimensional model of the...

This work is about the energy analysis of a humanoid robotic arm, seen as complex energy chain. We developed a simulation platform suitable for modelling the kinematics, dynamics, and energy balances of a real humanoid robotic arm. The model was validated by an accurate comparison with the real robot. Then, we performed a first compared study of the motion dynamics of the simulated robot arm an...