A typical robot assembly operation involves contacts with the parts of the product to be assembled and consequently requires the knowledge of not only position and orientation trajectories but also the accompanying force-torque profiles for successful performance. To learn the execution of assembly operations even when the geometry of the product varies across task executions, the robot needs t...

Robotic search and rescue is a challenging yet promising research area which has significant real-world application potentials. In this paper, a survey of multi-robot systems and how they can be implemented in search and rescue operations is presented. In particular, the problems of task allocation, communication, and human-robot interaction in multi-robot systems are explored.

Most robotics computations refer to a single worldbased frame of reference; however, several advantages accrue with the introduction of a second frame, termed a task frame. A task frame is a coordinate frame that can be attached to different objects that are to be manipulated. The task frame is related to the world-based coordinate frame by a simple geometric transformation. The virtues of such...

This paper describes an approach to develop the kinematic and dynamic models of IRB 6640-180-255, an industrial manipulator from ABB. Models’ parameters and constraints that characterize robot motion are extracted frommanuals and tests on the same robot in ABB RobotStudio environment. RobotStudio is a software provided by the robot manufacturer and implements a virtual controller identical to t...

Learning a complex dynamic robot maneuver from a single human demonstration is difficult. This paper explores an approach to learning from demonstration based on learning an optimization criterion from the demonstration and a task model from repeated attempts to perform the task, and using the learned criterion and model to compute an appropriate robot movement. A preliminary version of the app...

This work demonstrates the application of the distributed behavior-based approach [1] to generating a multi-robot controller for a group of mobile robots performing a clean-up and collection task. The paper studies a territorial approach to the task in which the robots are assigned individual territories that can be dynamically resized if one of the robots malfunctions, permitting the completio...

From teaching in labs to training for assembly, a key role that robots are expected to play is to instruct their users in completing physical tasks. While task instruction requires a wide range of capabilities, such as effective use of verbal and nonverbal language, a fundamental requirement for an instructional robot is to provide its students with task instructions in a way that maximizes the...

This paper, from the description of the research activities of the ongoing European project IROMEC, discusses the potential role of the brand new version Children and Youth of ICF (International Classification of Functioning and Disability) as an useful resource in the design development and outcomes evaluation of robotic toys used as play mediators in educational and therapy settings with chil...

This article presents a new approach for guiding a group of people using an adaptive multi agent system. For the simulations of the group of people we use social forces, with theses forces human motion is controlled depending on the dynamic environment. To get the group of people being guide we use a set of agents that work cooperatively and they adapt their behavior according to the situation ...

Rigorous analysis and evaluation of real implemented robotic systems for intelligent tasks are rarely performed. Such systems are often extremely complicated, dependang not only on ‘interesting’ theoretical parameters and models, but on many assumptions and constants which may be set almost arbitrarily. We view all task implementations as particular parameterizations of the task goals they repr...