Robots operating in unstructured environments must be capable of safely handling unexpected collisions with objects existing the surrounding area, possibly without stopping task execution. This letter proposes a tactile feedback control law allowing robot to apply bounded contact forces reaction physical while performing task. As use-case scenario, problem driving arm through obstacles reach kn...

This paper addresses the visual servoing of robot manipulators in fixed-camera configuration considering a moving target. We propose a control scheme consisting of two loops: an inner loop, which is a joint velocity controller, and an outer loop which is an image-based feedback loop. We present the stability analysis and the experimental evaluation on a two degrees of freedom direct-drive plana...

The UQ RoboRoos have been developed to participate in the RoboCup robot soccer small size league over several years. RoboCup 2001 saw a focus on the mechanical design of the RoboRoos, with the introduction of an omni-directional drive system and a high power kicker. The change in mechanical design had implications for the rest of the system particularly navigation and multi-robot planning. In a...

A new rehabilitation robot was designed. The robot included a suspension mechanism, a drive unit, and an adjustment mechanism. Additionally, innovative weight loss mechanism increased the dynamical device so that it could be used with patients of varying lower extremity muscle strengths. The relationship of hip and knee angles with height, step length, and gait cycle was studied. It was develop...

Wheel odometry is a common method for mobile robot relative localisation. However, this method is known to suffer from systematic errors. In this paper a comprehensive systematic odometry error model for a synchronous drive robot is proposed. The model addresses the systematic error for both rotational and translational motions. Results on real data show a real potential to produce a significan...

This paper addresses the visual servoing problem of a robot–pendulum in fixed–camera configuration. We present two new visual position controllers supported by a rigorous analysis of local asymptotic stability in agreement with the Lyapunov’s direct method and the LaSalle’s invariance principle. The proposed controllers belong to the family of Transpose Jacobian-based schemes. We also present t...