What dynamics can enable a robot to continuously develop new visual know-how? We present a rst experimental investigation where an AIBO robot develops visual competences from scratch driven only by internal motivations. The motivational principles used by the robot are independent of any particular task. As a consequence, they can constitute the basis for a general approach to sensorymotor deve...

A redundant robot has more degrees of freedom than what is needed to uniquely position the robot end-effector. In a usual robotic task, only the end-effector position tr'ajectory is specified. The joint position trajectory is unknown, and it must be selected from a self-motion manifold for a specified end-effector. In many situations the robot dynamic parameters such as link mass, inertia and j...

We have created a simulated environment in Matlab that models a 2D 2-link brachiating robot using Lagrangian dynamics. We then developed a dynamic programming based control scheme to allow the robot to perform swingup and continuous contact brachiating swing.

Abstract How does the presence of a robot affect pedestrians and crowd dynamics, this influence vary across type? In paper, we took first step towards answering question by performing crowd-robot gate-crossing experiment. The study involved 28 participants two distinct representatives: A smart wheelchair Pepper humanoid robot. Collected data includes: video recordings; participant trajectories;...

This work investigates feedforward control of elastic robot structures. A general serial link elastic robot model which can describe a modern industrial robot in a realistic way is presented. The feedforward control problem is discussed and a solution method for the inverse dynamics problem is proposed. This method involves solving a differential algebraic equation (DAE). A simulation example f...

NomencLature A the closectloop mapping from r to f d nxl external-force vector on the robot end-polnt e nxl input trajectory vector %,dm posltive scalars E envtronment d namics f nxt vector of ttie contact force fm, &, t he l m t m value of the contact force and robot posttlon 8r ngld envlronment robot dynamics with positloning controller comDensator transfer functlon matrlx nxl hput-c...

This paper addresses the position control problem for robot manipulators. We present three new controllers with bounded actions supported by a rigorous stability analysis including the robot dynamics in the closed–loop using Lyapunov’s direct method and the LaSalle’s invariance principle. Besides the theoretical results, the performance of proposed controllers is illustrated by experimental res...

Formations are often seen in nature, and bring many benefits for the group as a whole. They can allow a group to explore a large area more effectively, can ease movement of the group through the environment, and can increase group perceptual coverage and increase defensive capabilities, for example. The benefits of any particular formation vary and are obtained from the structure the formation ...

In this paper a humanoid robot simulator built with the Multi-Robot-Simulation-Framework (MuRoSimF) is presented. Among the unique features of the this simulator is the scalability in the level of physical detail in both the robot’s motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Huma...

Learning to perform complex tasks out of a sequence of simple small demonstrations is a key ability for more flexible robots. In this paper, we present a system that allows for the acquisition of such task executions based on dynamical movement primitives (DMPs). DMPs are a successful approach to encode and generalize robot movements. However, current applications involving DMPs mainly explore ...