This paper presents an advanced telerobotic control system for a mobile robot with multisensor feedback. A telecontrol concept for various degrees of cooperation between a human operator and a mobile robot is described. With multisensor on-board the robot at the remote site can adjust its path while continuously accepting commands from the human operator. Interactive modelling that allows the m...

This paper presents a new systematic adaptive fuzzy neural network for inverse modelling of robot manipulators. An inductive learning algorithm is applied to generate the required inverse modelling rules from the robot’s input/output records. A full differentiable fuzzy neural network is developed to construct the inverse models of the robot manipulator, while any adaptation technique, such as ...

The possibility of fast modelling of an unstructured scene for Human-Robot Interaction (HRI) is to be related to the dependability of the models which are used for robot control. A review of our recent contributions to modelling and control for fast and reliable motion control in HRI is presented in this paper. The models implemented for real-time control have to be complemented with solutions ...

This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H ...

Robots usually carry out object segmentation and modelling passively. Sensors such as cameras are actuated by a robot without disturbing objects in the scene. In this paper, we present an intelligent robotic system that physically moves objects in an active manner to perform segmentation and modelling using vision. By visually detecting bilateral symmetry, our robot is able to segment and model...

Knowledge management is used for handling knowledge and activities in real world context. However, knowledge management can also be used for the modelling of robot activities in a real world context. Although robot technology is still under development, Intelligent Service Robots are slowly becoming a reality. The programming of these robots to support a closer interaction with the users is a c...

the main objective of this article is to optimize the walking pattern of a 2d humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. to this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. then, using these trajectories and the inverse kinematics, the position tra...

Haptic interaction in human motor tasks requires special modelling techniques in robot learning. This paper proposes a novel scheme for haptic skill modelling, covering the modelling procedure starting from reference data acquisition until a competent model is obtained. The iterative structure of the proposed scheme provides a clear guideline to the modelling workflow. The scheme as well as the...