In order to identify the dynamic parameters in nonlinear adaptive control the robot's dynamic equation has to be written in a linear form. Many methods have been proposed for serial robots, but for parallel robots, the few solutions proposed so far lead to complicated equations that are not readily usable for real-time implementation. In this paper we propose a new method based on the virtual w...

In the emerging world of human-robot interaction, people and robots will work together to achieve joint objectives. This paper discusses the design and validation of a general scheme for creating emotionally expressive behaviours for robots, in order that people might better interpret how a robot collaborator is succeeding or failing in its work. It exemplifies a unified approach to creating ro...

This paper discusses the problem of improving the realism of motion not from the joint point-ofview as for robots, but in relation to the deformations of human bodies during animation. Two methods for improving these deformations are described. The Joint-dependent Local Deformation (JLD) approach is convenient when there is no contact between the human being and the environment. A finite elemen...

This report introduces a general formulation of relational behaviours for cooperative real robots and an example of its implementation using the pass between soccer robots of the Middle-Sized League of RoboCup. The framework supports explicit teamwork between two team mates. This implies that both participants know from each other that they are committed to the relational behaviour and that the...

The paper deals with the dynamic modeling of bio-inspired robots with soft appendages as flying insect-like or swimming fish-like robots. In order to model such soft systems, we here propose to exploit the Mobile Multibody System framework introduced in [1], [2], [3]. In such a framework, the robot is considered as a tree-like structure of rigid bodies whose the joint evolution is governed by s...

A robust adaptive compensation scheme is presented for compensation of asymmetric deadzone, dynamic friction and uncertainty in the direct-drive robot manipulator. Simple estimation laws are derived to build observers for estimation of deadzone and friction based on the LuGre friction model. A model-free RWCMAC controller to mimic the ideal control law is employed to overcome some shortcomings ...

Almost all present control strategies for electrically-driven robots are under the rigid robot assumption. Few results can be found for the control of electrically driven robots with joint flexibility. This is because the presence of the joint flexibility greatly increases the complexity of the system dynamics. What is worse is when some system dynamics are not available and a good performance ...

An algorithm for Cartesian trajectory generation by redundant robots in environments with obstacles is presented. The algorithm combines a raster scanning technique, genetic algorithms and functions for interpolation in the joint coordinates space in order to approximate a desired Cartesian curve by the robot’s hand tip under maximum allowed position deviation. A raster scanning technique deter...

This paper summarizes findings on the growing field of role assignment policies for human–robot motor interaction. This topic has been investigated by researchers in the psychological theory of joint action, in human intention detection, force control, human–human physical interaction, as well as roboticists interested in developing robots with capabilities for efficient motor interaction with ...

Reconfiguring chain-type modular robots has been considered a difficult problem scaling poorly with increasing numbers of modules. We address the reconfiguration problem for robots in 2D by presenting centralized and decentralized algorithms based on the Carpenter’s Rule Theorem [5]. The theorem guarantees the existence of instantaneous collision-free unfolding motions which monotonically incre...