The current paper presents techniques that facilitate mobile robots to be deployed as interactive agents in populated environments, such as museum exhibitions or trade shows. The mobile robots can be teleoperated over the Internet and this way provide remote access to distant users. Throughout this paper we describe several key techniques that have been developed in the context of relevant EU-I...

  A new computational technique is presented to find the optimal base position of dual arm robots in order to carry maximum allowable load. The maximum allowable load on a desired trajectory is limited by the number of factors such as; actuators torque limits, kinematic constraints, and kinematic redundancy of cooperative manipulators. For a dual arm robot mounted on a rail or table, load works...

The term "INDUSTRY 4.0" or "fourth industrial revolution" was first introduced at the fair in 2011 in Hannover. It comes from the high-tech strategy of the German Federal Government that promotes automation-computerization to complete smart automation, meaning the introduction of a method of self-automation, self-configuration, self-diagnosing and fixing the problem, knowledge and intelligent d...

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...

stability and performance are two main issues in motion of bipeds. to ensure stability of motion, a biped needs to follow specific pattern to comply with a stability criterion such as zero moment point. however, there are infinity many patterns of motion which ensure stability, so one might think of achieving better performance by choosing proper parameters of motion. step length and step perio...

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

In the event of an emergency due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground or area can be entered safely by human emergency workers. The objective of the VIEW-FINDER project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors that det...

The advancement of autonomous mobile robots (AMR) is vastly being discovered and applied to several industries. AMR contributes the development artificial intelligence (AI), which focuses on growth human-interaction systems. However, it safe understand that work closely in real-time under changing surroundings. Similarly, some limitations may affect efficiency robots. Thus, improve system's acc...

In this note, we show that the impedance control strategy proposed in the paper is not feasible from practical implementation point of view. Next, a robust impedance controller is proposed for electrically driven robots using Fourier series (FS). The fact that robots' actuators have limited voltage is also considered in controller design procedure. In comparison with other impedance controllers...

Human–computer interaction (HCI), as a field, has made great strides toward understanding and improving our interactions with computer-based technologies. From the early explorations of direct interaction with computers, we have reached the point where usability, usefulness, and an appreciation of technology’s social impact, including its risks, are widely accepted goals in computing. HCI resea...