This paper presents a humanoid robot that has the same size as a human and that can lie down to the floor and get up from the floor with the robot face upward and downward. We believe that the robot is the first life-size humanoid robot with the capability. The motions are realized by the combination of novel hardware and software. The features of the hardware are a human-like proportion and jo...

The paper presents a systemic approach of a walking robot behavior and control in uncertain environments, with application to a hexapod robot. For simplicity, this paper considers only the vertical xzplane evolution taking into account that the structure is symmetrical in the horizontal xy-plane and the results can be easily extended. Based on the mathematical model of the robot, determined con...

Effective mass of robot is considered great significance in enhancing the safety human-robot collaboration. In this paper, effective investigated using different joint configurations. This investigation executed two steps. first step, position each changing alone, whereas positions other joints are fixed and then determined. second all together, From process, relation between configurations can...

Robots are booming as an essential substituent in the field of inspection. In hazardous environments like nuclear waste disposal, robots are really a necessitate one. In a view to meet such demands, this paper presents the seven degree of freedom articulated inspection robot. To design such a robot the kinematic analysis of seven Degree of freedom robot which can inspect the hazardous nuclear w...

In this paper, the uncertain dynamic parameters of an experimental target tracker robot are identified through the application of genetic algorithm. The considered serial robot is a two-degree-of-freedom dynamic system with two revolute joints in which damping coefficients and inertia terms are uncertain. First, dynamic equations governing the robot system are extracted and then, simulated nume...

In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...

Accurate pose estimation of object instances is a key aspect in many applications, including augmented reality or robotics. For example, a task of a domestic robot could be to fetch an item from an open drawer. The poses of both, the drawer and the item have to be known by the robot in order to fulfil the task. 6D pose estimation of rigid objects has been addressed with great success in recent ...

In this paper, we present the development of postural expressions of emotions for the humanoid robot Nao in an assistive context. The approach is based on the adaptation of human body postures to the case of the Nao robot. In our paper, the association between the joints of human body and the joints of Nao robot are described. The postural expressions are studied for three emotions anger, sadne...

The joint controllers used in robots like the Sony Aibo are designed for the task of moving the joints of the robot to a given position. However, they are not well suited to the problem of making a robot move through a desired trajectory at speeds close to the physical capabilities of the robot, and in many cases, they cannot be bypassed easily. In this paper, we propose an approach that models...