this paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. fuzzy logic control (flc) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  on the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

In networked multi-robot systems, communication plays a major role defining system’s dynamics and performance. Unfortunately, existing multi-robot simulators do not provide advanced communication models. Therefore, given the intrinsic unreliability of wireless communications, significant differences might be observed between simulation and real-world results. Addressing these issues, we present...

With the growth of computational power in recent years, complex autonomous robot systems have become a possibility. To increase their flexibility and adaptability, learning mechanisms are necessary for robot control. In this paper, I present two recent legged robot-systems that use machine-learning in their foothold-selection process. It was found that currently both systems have a number of is...

This paper presents results from three years of studying human-robot interaction in the context of the AAAI Robot Rescue Competition. We discuss our study methodology, the competitors’ systems and performance, and suggest ways to improve human-robot interaction in the urban search and rescue as well as other remote robot operations.

In mobile robot applications navigation systems are of great importance. Automation of mobile robots demands robust navigation systems. This thesis deals with a few solutions on how to help a mobile robot navigate in an environment. Navigation systems using retroreflective beacons and applications relying on laser range finders are two different solutions to aid a mobile robot. The first type o...

this paper presents a stable new algorithm for force/position control in robot manipulators. in this algorithm, position vectors are measured by sensors and then used in the control law. since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. in this respect, force sensor is replaced by an adaptive fuzzy estimator to...

Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...

In this paper we present technologies that enable man-robot cooperation. Several robots are presented that are capable of working safely around humans. Software and sensor-based safety systems are also discussed. We review the regulations and robot standards which determine the construction of today’s robot solutions. Finally, we present a few concept man-robot solutions in assembly cells from ...

We discuss a physical implementation of the Crystalline robot system. Crystalline robots consist of modules that can aggregate together to form distributed robot systems. Crystalline modules are actuated by expanding and contracting each unit. This actuation mechanism permits automated shape metamorphosis. We describe the Crystalline module concept and a physical implementation of a robot syste...

In the field of mobile robotics, the study of multi-robot systems (MRSs) has grown significantly in size and importance in recent years. Having made great progress in the development of the basic problems concerning single-robot control, many researchers shifted their focus to the study of multi-robot coordination. This paper presents a systematic survey and analysis of the existing literature ...