mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

This paper proposes a robot motion authorization using finger-robot interaction. The proposed method is a userfriendly method that easily authors (creates and controls) robot motion according to the number of fingers. The Effectiveness of the proposed motion authoring method was verified based on motion authoring simulation of an industrial robot. Keywords-finger-Robot interaction,Industrial ro...

Physical simulation is an effective and practical method, to apply to the study and exploration of real world problems. However, simulation can offer valuable results for robotics only in close connection to real robots. In this thesis, we investigated how to create a mechanism that provides a smooth gradient to transfer humanoid robot control from simulated robot to real robot. We developed a ...

We applied Reinforcement Learning on a real robot arm, in order to control its movements. The arm is actuated by two pneumatic artificial muscles, that expose a highly non-linear behavior. To enable a significant speed-up of the learning process, an empirical simulation is constructed, based on real robot observations. Furthermore, we introduce a learning strategy to facilitate learning. Using ...

Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is...

Many industrial tasks cannot be executed by a robot alone. A way to help workers in order to decrease the risk of musculoskeletal disorders is to assist them with a collaborative robot. Yet assessing its usefulness to the worker remains costly because it usually requires a prototype. We propose a dynamic simulation framework to model the performing of a task jointly by a virtual manikin and a r...

This paper reports research into an interface between industry robots and Virtual Reality systems and creates a virtual robot for robot arm simulation, control language conversion, physical communication, robot networking and teleoperation control. The paper is based on an integrated manufacturing networking software which includes a PUMA robot, a Lansing welding robot, and CNC machines. The ai...

Optimization using results of dynamical and mechanical simulation of a robotic nurse unit to assist paraplegic patients, on a virtual path similar to actual hospital environment, is addressed in this paper. Force-Angle tipover stability margin measurement was employed in Genetic Algorithm optimization in order to find optimum driving and locomotion mechanism for the robot. By running the ADAMS ...

Controlling a biped robot with a high degree of freedom to achieve stable movement patterns is still an open and complex problem. Thus, the development of control mechanisms for biped walking have become an important field of research. With growing calculation power of computer hardware, high resolution realtime simulation of such robot models in effect becomes all the more applicable. This the...

This paper describes a rapid development system for vision-based behaviors of humanoid which consist of both real robot and virtual robot in simulation environment. Vision based behavior of a humanoid is very complex and difficult to develop, therefore simulation environment to develop it rapidly and efficiently, and to verify or to evaluate it is required. Previous simulator in robotics is lim...