In disaster sites, the remote control of construction machinery is required to ensure the safety of the workers. However, the current remote control systems are limited in types of machines and numbers. A remote control system we have developed has advantages in portability and dexterity by using lightweight pneumatic robot arms. The effectiveness of the system has been confirmed with a small t...

Recent research in industrial robotics aims at the involvement of additional sensoric devices to improve robustness, flexibility and performance of common robot applications. Many different sensors have been developed over the past years to fit the requirements of different but very specific tasks. Special seam tracking sensors support the robot in welding applications. Vision systems are commo...

This paper proposes a process to design an iterative learning control (ILC) to be applied to flexible joint robot manipulators which repeats identical tasks under the same operation conditions. The proposed ILC updates the desired trajectory not the feedback control signals in order to avoid potentially destabilizing embedded controllers of the robot manipulators. To guarantee the convergence o...

The paper presents a dynamic control system for the walking robot which is a complex structure of a hexapod walking robot, having six degrees of freedom for each leg of the three degrees of movement for positioning and three degrees of movement to paw foot orientation. Issues for direct and inverse kinematics of the walking robots structure are analyzed, determining the joints coordinates of th...

This paper describes the development of a novel humanoid robot ankle based on an orientation Parallel Kinematic Mechanism (PKM) for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotational motions. In order to enable the humanoid robot safel...

Recent advances in safe human-robot coexistence make collaboration of humans and robots in achieving common goals feasible. We propose a concept that treats human and robot agents as equal partners in executing a task specified by a shared task model. Equality between agents offers high flexibility, as e.g. the team composition may change arbitrarily without interrupting the working progress. T...

This paper presents the design and online experiments of a self-paced online brain-computer interface (BCI) for controlling a simulated robot in an indoor environment. Three one-vs-rest linear discriminant analysis (LDA) classifiers are combined to control the switching between automatic control (AC) and subject control (SC) modes. The hierarchical structure of the controller allows the most re...

Edutainment robots are robots designed to participate in people’s education and in their entertainment. One of the tasks of edutainment robots is to play with their human partners, but most of them offer a limited pool of games. Moreover, it is difficult to add new games to them. This lack of flexibility could shorten their life cycle. This paper presents a social robot on which several robotic...

Surface treatment operations, such as sanding, deburring, finishing, grinding, polishing, etc. are progressively becoming more automated using robotic systems. However, previous research in this field used a completely automatic operation of the robot system or considered low degree human-robot interaction. Therefore, to overcome issue, work develops truly synergistic cooperation between human ...

A large part of the new generation of computer numerical control systems has adopted an architecture based on robotic systems. This architecture improves the implementation of many manufacturing processes in terms of flexibility, efficiency, accuracy and velocity. This paper presents a 4-axis robot tool based on a joint structure whose primary use is to perform complex machining shapes in some ...