Controlling a tendon-driven robot like the humanoid Ecce is a difficult task, even more so when its kinematics and its pose are not known precisely. In this paper, we present a visual motion capture system to allow both real-time measurements of robot joint angles and model estimation of its kinematics. Unlike other humanoid robots, Ecce (see Fig. 1A) is completely molded by hand and its joints...

Interactive robots, virtual environments and other computer based technologies are increasingly applied in rehabilitation therapy and education. The research presented in this thesis investigates the potential use of a humanoid robot as assistive technology for encouraging social interaction skills specifically in children with autism. The research focuses on ways in which the humanoid robot ca...

Abstract Medical rehabilitation treatments are carried out to reinstate physical disorders caused from an injury or stroke. Robots can significantly assist the therapist to carry out an effortless and yet controlled rehabilitation program simultaneously on a number of patients to save on time and efforts of both the therapist and the patient. Ankle joint injuries, due to their complexities and ...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

Human-robot collaboration (HRC) systems integrate the strengths of both humans and robots to improve the joint system performance. In this thesis, we focus on social human-robot interaction (sHRI) factors and in particular regret and trust. Humans experience regret during decision-making under uncertainty when they feel that a better result could be obtained if chosen differently. A framework t...

The absolute accuracy of a robot depends to a large extent on the accuracy with which its kinematic parameters are known. Many methods have been explored for inferring the kinematic parameters of a robot from measurements taken as it moves. Some require an external global positioning system, usually optical or sonic. We have used instead a simple radial-distance linear transducer (LVDT) which m...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

39 ISSN 1729‐8806, pp. 41‐50 Design, Modeling and Control of a Biped Line-Walking Robot Ludan Wang1, Fei Liu1, Shaoqiang Xu1, Zhen Wang1, Sheng Cheng1 and Jianwei Zhang1,2 1Laboratory of Intelligent Robot Engineering, Kunshan Institute of Industry Research, Kunshan, China 2TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany [email protected] Abstract: The subject of t...