We have developed a new operator interface system for high-DoF articulated robots based on the idea of allowing the operator to extend the robot’s actual kinematics with virtual articulations. These virtual links and joints can model both primary task DoF and constraints on whole-robot coordinated motion. Unlike other methods, our approach can be applied to robots and tasks of arbitrary kinemat...

Humans have degrees-of-freedom (dof) of varying bandwidths and one casually observes that they coordinate them while visually tracking. This suggests that joint interplay aids tracking performance. In a control scheme we call partitioning, both image and kinematic data are used to visually-servo a 5-dof robot by defining a joint-coupling among the rotational and translational dof. Analysis of s...

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the DenavitHartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks f...

Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modern learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental...

We present a novel adaptive dynamics algorithm with efficient contact handling for articulated robots. Our algorithm automatically computes a fraction of the joints whose motion provides a good approximation to overall robot dynamics. We extend Featherstone’s Divide-and-Conquer algorithm and are able to efficiently handle all contacts and collisions with the obstacles in the environment. Overal...

Joint design and load transmission are crucial factors when building autonomous robots. On the one hand, heavy torques are often needed which result in multi-stage gearboxes, on the other hand the latter exhibit massive friction which gets in the way of energy-efficient actuation systems. Furthermore, the immense impact forces of a tumbling robot can easily break its joints, gears, and motors. ...

Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modern learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental...

This paper presents the current work progress of HIT/DLR Dexterous Hand. Based on the technology of DLR Hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand. The prototype of one finger has been successfully built. The finger has three DOF and four joints, the last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushl...

The present paper discusses the co-simulation methodology for a robotic system, which is used in the spray pyrolysis process on a planar surface. Robot bodies, joints and rotors are modelled as a rigid multi-body system. The MBS software environment ADAMS was used to develop the dynamic model of a robotic system, while the control system model is developed in MATLAB/Simulink. The purpose is to ...

In recent years, there has been a lot of research using reinforcement learning algorithms to train 2-legged robots move, but are still many challenges. The authors propose the GCTD3 method, which takes idea Graph Convolutional Networks represent kinematic link features robot, and combines this with Twin-Delayed Deep Deterministic Policy Gradient algorithm robot move. very effective in graph-str...