This work presents a novel vision-force based interface; allowing a local operator to visually specify a path constraint to a remote robot manipulator. By using our interface the operator is able to control a 7-DOF arm with only 2-DOF. Our interface aims to reduce task complexity and operator cognitive load. We illustrate our approach with 2 mock-up examples: 1) Closing a steam valve, 2) Gluing...

The paper deals with the stability of control algorithms in extended operational space for redundant robots. We compare the performance of the control algorithm based on minimal-null space projection and pseudoinverse based projection into the Jacobian null space. We show how the null-space projection affects the stability of the null-space tracking algorithm. The results are verified with the ...

The analytical model of a robot dynamics represents an important tool for both the analysis and the synthesis of robot control algorithms. Based on the Euler-Lagrange formalism, the contribution presents a MATLAB-SIMULINK dynamic model of the 3-DOF anthropomorphic robot manipulator with revolute joints. A significant simplification of the model has been accomplished via the concentration of the...

A reliable, real time multi-sensor fusion functionality is crucial for localization of actively controlled capsule endoscopy robots, which are an emerging, minimally invasive diagnostic and therapeutic technology for the gastrointestinal (GI) tract. In this study, we propose a novel multi-sensor fusion approach based on a particle filter that incorporates an online estimation of sensor reliabil...

Locomotion and manipulation optimization is essential for the performance of tetrahedron‐based mobile mecha‐ nism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom (DOF), which is infeasible to the optimization of binary control multi‐DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DO...

A reliable, real time multi-sensor fusion functionality is crucial for localization of actively controlled nextgeneration endoscopic capsule robots, as an emerging minimally invasive diagnostic technology for the inspection of gastrointestinal (GI) tract and diagnosis of a wide range of diseases and pathologies. In this study, we propose a novel multi-sensor fusion approach based on switching o...

This paper presents a new observability index to quantify the selection of best pose set in robot calibration. This noise amplification index is considerably more sensitive to calibration error than previously published observability indices. Support for the proposed andex is provided analytically and geometrically, and also through comparison against previous indices by a simulation for a 3-li...

This paper presents the design of a novel quadruped robot. The proposed design is characterized by a simple, modular design, and easy interfacing capabilities. The robot is built mostly from off-the-shelf components. The design includes four 3-DOF legs, the robot body and its electronics. The proposed robot is able to traverse rough terrain while carrying additional payloads. Such payloads can ...

In this paper we present an algorithm for planning the path of a 3 DOF mobile platform for a humanoid robot. It is simple enough to be executed online and yet powerful enough to generate a smooth path from starting point and orientation to a destination point with a different orientation. Thus we strive to achieve a human-like appearance of our robot that encourages the humans in vicinity to in...

An accurate dynamic model is a prerequisite for realizing precise control of industrial robots. The dynamics research multi-degree freedom (DOF) robots relatively unexplored and needs to be solved urgently. In this paper, modeling method multibody system 6-DOF robot proposed based on the screw theory. established has more concise unified mathematical form, modular matrix expression convenient r...