Object-oriented frameworks are a promising new technology to improve software quality and reduce development costs. In contemporary software development frameworks play an increasingly important role. Subject of our paper is an object-oriented ready-to-use framework for robot control systems. benefits are the fast software development, the better quality of software and the reduction of costs. ...

This paper describes the development of a realtime Human-Robot Interaction (HRI) system for a service robot based on 3D human activity recognition and human-like decision mechanism. The Human-Robot Interactive (HRI) system, which allows one person to interact with a service robot using natural body language, collects sequences of 3D skeleton joints comprising rich human movement information abo...

Abstract Complex systems typically consist of many components and are subject to requirements. Approaches like the V-Model support complex design by providing guidelines on how break down large into smaller pieces. Models built with SysML provide documentation an abstract level. However, neither incoporates detailed information that may be relevant for decisions. In robot-like systems, e.g., ch...

In this paper, we present the humanoid communication robot Fritz. Our robot communicates with people in an intuitive, multimodal way. Fritz uses speech, facial expressions, eye-gaze, and gestures to interact with people. Depending on the audio-visual input, our robot shifts its attention between different persons in order to involve them into the conversation. He performs human-like arm gesture...

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control metho...

Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...

Problem statement: Present researches focus to make humanoid robots more and more autonomous so they can assist human in daily works like taking care of children, aged or disabled persons. In such social activities, the contemporary humanoid robots are expected to have human like morphology and gait. Studies on bipedal locomotion for humanoid robots are then part of the hottest topics in the fi...

in this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. the robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (sns) toward the goal. in the case of no obstacle, sns was a direct path from the robot to goal; however, in the presence of obstacles, sns was a space around the r...

Last year, the IEEE Robotics and Automation Society (RAS) CAB Competition Committee proposed Quadruped Robot Challenge (QRC) as an exemplary robot challenge organized by RAS at RAS’s major conferences. As a part of project, first version QRC was held in ICRA 2023 London. In this column, we would like to introduce challenges results.

The present study deals with a robot safety system composed of standby robot units and inbuilt safety unit. When the main operative unit fails, it is replaced by the standby robot unit available in the system. The concept of reboot delay is also incorporated in this study according to which the robot unit is rebooted if it is not successfully recovered. The recovery and reboot times of failed u...