This paper deals with dynamic analysis of mobile robot equipped with three omni-directional wheels. The mobile robots contain subsystems from different physical domains and in the paper bond graphs are chosen as an appropriate technique for modelling and simulation. Model of Robotino mobile robot is developed and simulation is performed using the program BondSim, developed by the first author o...

An approach to the design and implementation of a robotics vision system based on agent inserted in a generic multi-level architectures for mobile robotics is presented, that is based on the Unified Modelling Language. The main goal of the work is to provide a framework to perform a rigorous agent-based design process for cognitive architectures both in the case of a single robot, and in a mult...

World modelling for mobile autonomous robot is usually a process that uses sensor data as input and provides a model of the robot’s environment as output. In this paper we investigate on sensor fusion methods for robustness and fault tolerance. We evaluate three methods according to their performance, memory consumption, and required sensor configurations. The algorithms have been implemented i...

Occupancy grids are common tools used in robotics to represent the robot environment, and that may be plan trajectories, select additional measurements acquire, etc. However, deriving information about those occupancy from sensor often induce a lot of uncertainty, especially for grid elements correspond occluded or far away area robot. This means quite uncertain imprecise at some places, while ...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...

In this paper we propose a probabilistic sequential model of Human-Robot Spatial Interaction (HRSI) using a well-established Qualitative Trajectory Calculus (QTC) to encode HRSI between a human and a mobile robot in a meaningful, tractable, and systematic manner. Our key contribution is to utilise QTC as a state descriptor and model HRSI as a probabilistic sequence of such states. Apart from th...

In this paper, an adaptive control method for trajectory tracking of robot manipulators, based on new neuro-fuzzy modelling is presented. The proposed control scheme uses a three-layer neural fuzzy network (NFN) to estimate system uncertainties. The function of robot system dynamics is first modelled by a fuzzy system, which in the sequel is approximated by a combination of high order neural ne...

Breast cancer is the most common type of worldwide. A robotic system performing autonomous breast palpation can make a significant impact on related health sector However, robot programming for palpating with different geometries very complex and unsolved. Robot learning from demonstrations (LfD) reduces time cost. available LfD are lacking modelling manipulation path/trajectory as an explicit ...

The Local Model Networks (networks composed of locally accurate models, where the output is interpolated by smooth locally active basis functions) described in this paper provide a solid basis for practical modelling tasks. The architecture benefits from being able to incorporate Fuzzy, Neural Network and conventional System Identification methodology and experience. The advantages of the archi...