This paper presents recent results from the Robotics Systems Laboratory at the Australian National University in the area of Robot Vision. Progress has been made in the design and construction of novel mechanisms for both active and panoramic vision, together with computer systems that facilitate real-time vision processing. The robot vision systems are being used to develop human-friendly robo...

The science of rehabilitation showed, in most cases, that repeated movements of human members can to help the patient regain the functions of the member injury. Robots for these tasks can be more efficient in performing these exercises than humans. Robotic systems for rehabilitation can be generally used to record information like position, trajectory, force and velocity exploiting the motor pe...

. . . a. O...O~...*..I.~..rrlr.r.,..........~.~~~~~~b~...~.~~~*.~*.~~*~~~*.~.~~~~~~.~~8~b#~~*M~906~*~ “Hyper-redundant” manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avaoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and graspin...

Parallel manipulators are robotic devices that differ from the more traditional serial robotic manipulators by their kinematic structure. Parallel manipulators are composed of multiple closed kinematic loops. Typically, these kinematic loops are formed by two or more kinematic chains that connect a moving platform to a base, where one joint in the chain is actuated and the other joints are pass...

being solved to determine the corresponding required joint values, 8(t;). A kinematically redundant manipulator can, in general, satisfy an end-effector positioning constraint, x(t;), with an infinite family of joint values satisfying (2). The underlying premise for advocating the use of redundant manipulators for critical applications is that if a joint should fail, then the redundancy of the ...

A robot arm is the combination of links and joints in the form of a chain with one end is fixed while the other end is free. The joints are either prismatic or revolute, driven by actuators. In order to move the free end, also called the end effector, along a certain path, most, if not all, of the joints are to be moved. In doing so it is necessary to solve the inverse kinematics equation. In t...