A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their o...

In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...

We present and discuss four important yet underserved research questions critical to the future of sharedenvironment human-robot collaboration. We begin with a brief survey of research surrounding individual components required for a complete collaborative robot control system, discussing the current state of the art in Learning from Demonstration, active learning, adaptive planning systems, an...

The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...

The suspension system of a vehicle is one of the most important parts which is involved in the process of vehicle designing. When a vehicle suspension system is designed, the evaluation of its performance against the road disturbances such as shocks and bumps are very important. The most commonly used systems consist of four hydraulic Jacks with mobility in vertical line with low speed and l...

A learning system composed of linear control modules, reinforcement learning modules and selection modules (a hybrid reinforcement learning system) is proposed for the fast learning of real-world control problems. The selection modules choose one appropriate control module dependent on the state. This hybrid learning system was applied to the control of a stilt-type biped robot. It learned the ...

This paper proposes a robot oriented Mobile Intelligent Agent Model-MIAM, composed of core function, mobile ability, intelligent engine and communication interfaces, which provide flexible multi-mode robot control solutions for intelligent control and remote control.

Specifying communication routines transparently and explicitly as part of robots’ plans rather than hiding them in separate modules makes robots’ communication behavior more effective, efficient, and robust. It enables robot control systems to generate, reason about and revise their communication behavior. The controllers can also synchronize the robots’ conversations with other actions and use...

designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. for this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

in this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using b-spline curves. the trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. due to gait design considerations it is desired to minimize the required torques in a cycle of gait. similar to caterpillars,...