One of the most general frameworks for phrasing control problems for complex, redundant robots is operational-space control. However, while this framework is of essential importance for robotics and well understood from an analytical point of view, it can be prohibitively hard to achieve accurate control in the face of modeling errors, which are inevitable in complex robots (e.g. humanoid robot...

In this chapter, we introduce legged robots. After introducing the history of legged robot research in Sect. 16.1, we start to discuss hopping robots and analyze a simple passive walker as a typical cycling walking robot in Sect. 16.2; the Poincaré map is one of the most important tools to analyze its dynamics and stability. In Sect. 16.3, the dynamics and control of general biped robots are di...

In this paper, the modeling, simulation and control of a robotic meat cutting cell is described. A dual-arm system is used in the separation task, one arm cuts the meat along a deformable guide line while the second arm graps and pulls the meat to further increase the opening of the valley. The steps taken to model the cell in order to ensure a realistic interaction between the robots and the f...

The paper considers a technique for computation of the inverse kinematic model of the human arm. The approach is based on measurements of the hand position and orientation as well as acceleration and angular rate of the upper arm segment. A quaternion description of orientation is used to avoid singularities in representations with Euler angles. A Kalman filter is designed to integrate sensory ...

For mobile robots to assist people in everyday life, they must be easy to instruct. This paper describes a gesture-based interface for human robot interaction, which enables people to instruct robots through easy-to-perform arm gestures. Such gestures might be static pose gestures, which involve only a specific configuration of the person’s arm, or they might be dynamic motion gestures (such as...

Movement generation in robotics is a well know problem with many excellent solutions. Most of them, however, look for optimal solutions according to some metrics, but have no biological inspiration. From a human perspective these techniques behave in a non-naturalistic way. This poses a problem for human-robot interaction and, in general, for a good acceptance of robots in society. The present ...

Tensegrity is a structure consisting of rigid bodies and internal tensile members, with no contact between the bodies. The model an arm tensegrity not movable as it is, but we believe that can be made flexible by incorporating springs. We developed incorporates springs in arm’s members extending structure. Then, evaluation arm, measured ranges motions forces required for motion. also mechanism ...

One of the most general frameworks for phrasing control problems for complex, redundant robots is operational-space control. However, while this framework is of essential importance for robotics and well understood from an analytical point of view, it can be prohibitively hard to achieve accurate control in the face of modeling errors, which are inevitable in complex robots (e.g. humanoid robot...

Understanding others' actions is essential for functioning in the physical and social world. In the past two decades research has shown that action perception involves the motor system, supporting theories that we understand others' behavior via embodied motor simulation. Recently, empirical approach to action perception has been facilitated by using well-controlled artificial stimuli, such as ...

The robotic arms of the human arm type, so-called collaborative robots, have been improved, optimized, and diversified greatly in recent years. However, most them are still equipped with mechanical grippers plier-like jaws. Equipping these anthropomorphic is currently hampered by variants on market that far too complex at inaccessible prices to be used a large scale. As an alternative familiar ...