We introduce a new type of movement constraints for a swarm of robots in a grid environment. This type is inspired by Alex Randolphs board game Ricochet Robot and may be used to model robots with very limited abilities for self localization: We assume that once a robot starts to drive in a certain direction, it does not stop its movement until it hits an obstacle wall or another robot. We show ...

The kinematical accuracy of robot is very important. It is induced by the rigidity of each mechanism of the robot. The paper presents a numerical method to evaluate the rigidity of worm-gearing teeth. The software, including setting-up and graphic display, could be adopted of any kind of cylindrical worm-gear drive or for spur gear drives and bevel gear drives, mechanisms which are in the robot...

The coexistence of service robots in social environments has been intensified recent years, demanding Human-Robot Interaction (HRI) increasingly fluid and necessary. In this context, the present work aims to develop an architecture, called Erika. Erika provides a chatbot interact by voice text commands with robot, who implements autonomous navigation, respecting restrictions based on proxemic z...

This contribution presents the experimental verijcation of the newly developed Hamilton-based dynamic model ofDELTA direct drive parallel robot by measurements of DELTA robot's motor torques. The strain gage technology was applied. The experiment is in author's opinion the Jirst ever for robot DELTA. The experimental results validate the modelling of robot DELTA as a Aystem of rigid bodies, con...

This paper addresses the problem of the odometry error estimation during the robot navigation. The robot is equipped with an external sensor (like laser range finder). Concerning the systematic error an augmented Kalman Filter is introduced. This filter estimates a vector state containing the robot configuration and the parameters characterizing the systematic component of the odometry error. I...

This paper considers the problem of globally optimal navigation with respect to Euclidean distance for a disc-shaped, differential-drive robot placed into an unknown, simply connected planar region with piecewise-analytic boundary. The robot is unable to build precise geometric maps or localize itself in any Euclidean frame. Most of the robot’s information comes from a gap sensor, which indicat...

In previous work [4] a framework was demonstrated that allows an autonomous robot to automatically synthesize physically-realistic models of its own body. Here it is demonstrated how the same approach can be applied to empower a robot to synthesize physically-realistic models of its surroundings. Robots which build numerical or other nonphysical models of their environments are limited in the k...

The first part of the paper describes the miniaturized robot Parvus, which is suitable for desktop factory applications. The Parvus is well equipped for pick-and-place of micro parts in precision assembly. The challenges of precision assembly are discussed considering the technical data and behavior of the robot. The hybrid robot operates based on parallel kinematics and is driven by micro harm...