The new training literature suggests that in a monopsonistic market employers will not only pay for fi rm-specifi c training but also for general training if the risk of poaching is limited. This implies that training participation should decrease when competition for employees is higher among fi rms. Using worker level data for Germany we fi nd that the hypothesis is supported empirically. Spe...

One way to improve the robustness and flexibility of robot performance is to let the robot learn from its experiences. In this paper, we describe the architecture and knowledge-representation framework for a service robot being developed in the EU project RACE, and present examples illustrating how learning from experiences will be achieved. As a unique innovative feature, the framework combine...

The major aim of this article is modeling of nonlinear systems with friction structure that, thismethod is essentially extended based on taylore expansion polynomial. So in this study, thetaylore expansion was extended in the generalized form for the differential equations of the statespaceform. The proposed structure is based on multi independent variables taylore extended.According to the pro...

During the 21st century rapid progress in computer communication and technologies influences robot systems: becoming larger and more complicated than ever previously. To manage the rapidly growing sensor data the single robot systems transformed to networked systems, facing new challenges. The demand of low-cost mass production of robots (industrial or service type), the rising number of elderl...

 In this paper the flexible cable robot tracking is controlled using optimal feedback linearization method. Feedback linearization is used to control the robot within a predefined trajectory while its controlling gains are optimized using LQR method to achieve the maximum payload of the endeffector in presence of flexibilities. Required motors’ torque and tracking error caused by flexibility ...

This paper presents intelligent object distribution architecture to maximize the performance and intelligence of a distributed surgical robotics system and its preliminary implementation in an MR−guided surgical robot system in an open−configuration MRI scanner. The method enables networked integration of a robot control server and multiple clients with minimum engineering overhead but maximum ...

We present a parametric walk model for a four-legged robot. The walk model is improved using a genetic algorithm, but unlike previous approaches, the fitness is determined in a run that closely resembles the later application. We thus not only achieve high speeds, but also a high degree of flexibility. In addition to the walking model being flexible, we present a means of automatically calibrat...

Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. We are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands prov...

In order to obtain the optimal structure parameters of a quadruped robot, in this paper, a four-legged mammal (dog) is used as a model, and a quadruped robot configuration framework is set up by simplification of the model’s structure. In addition, the kinematics model of this robot is established. Based on the analysis of quadruped robot's kinematics characteristics, and taking the flexibility...

The present work proposes an autonomous tracking control system and a control structure to combine autonomous and teleoperation commands in a bicycle-type mobile robot. This compounded operation renders great flexibility to the control system of the mobile robot. For autonomous operation, a simple tracking controller that includes compensation of the robot dynamics is developed. This tracking c...