Joint attention is one of the most important cognitive functions for the emergence of communication not only between humans but also between humans and robots. In the previous work [8], we have demonstrated how a robot can acquire the primary joint attention behavior (gaze following) without external evaluation. However, this method needs the human to tell the robot when to shift its gaze. This...

Title Type neural network control of robot manipulators and non-linear systems series in systems and control PDF flexible robot manipulators modelling simulation and control control engineering series PDF modelling and control of robot manipulators advanced textbooks in control and signal processing PDF control of robot manipulators in joint space advanced textbooks in control and signal proces...

Current multi-backbone continuum robots are limited to a constant cross-sectional diameter. This paper proposes a design alternative that overcomes this limitation. The ability to change the diameter of a continuum robot expands the repertoire of kinematic redundancy and enables kinematic parameter adaptation to optimize performance. A continuum robot design based on the angulated scissor mecha...

The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in th...

Physiological studies suggest that the integration of neural circuits and biomechanics (e.g., muscles) is a key for animals to achieve robust and efficient locomotion over challenging surfaces. Inspired by these studies, we present a neuromechanical controller of a hexapod robot for walking on soft elastic and loose surfaces. It consists of a modular neural network (MNN) and virtual agonist-ant...

In this paper, the inverse kinematic control of a 6-DOF robot manipulator is achieved using visual motor coordination (VMC). Here the positional data is converted into image plane data of a pair of cameras. The Redundancy resolution is a prime goal for the robot manipulator with higher dimensional joint space than the task-space. In this work, we present five schemes for this redundancy resolut...

The problems of control of robot manipulators with actuation degradation and detection of actuation faults are addressed in this paper. An adaptive fault tolerant control method is proposed for robot manipulators to maintain the required performance in the presence of actuation degradation, and the same adaptive algorithm is utilized to detect actuation failures. The proposed method can compens...

Robots find their applications in various fields and are used to perform repetitive and adaptive tasks very accurately. This requires exact kinematic parameters of the robot. Generally, for a serial robot, these parameters are represented using the Denavit-Hartenberg (DH) parameters, whose nominal values are provided by the robot manufacturers. In this paper, a technique is proposed to determin...

Minimally invasive surgery systems typically involve thin and cabledriven surgical instruments. This introduces link and joint flexibility in the slave robot of a master-slave teleoperation system, reducing the effective stiffness of the slave and the transparency of teleoperation. In this paper, we analyze transparency under slave link and joint flexibility (tool flexibility). We also evaluate...

In this paper a new kind of hopping robot has been designed which uses inverse pendulum dynamics to induce bipedal hopping gaits. Its mechanical structure consists of a rigid inverted T-shape mounted on four compliant feet. An upright “T” structure is connected to this by a rotary joint. The horizontal beam of the upright “T” is connected to the vertical beam by a second rotary joint. Using thi...