We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to predict the human actions. Our intention-aware online planning algorithm uses the learned database to compute a reliable trajectory based on the predicted a...

This paper presents a novel way for a structural dynamic simulation analysis on a three-dimensional (3-D) finite element (FE) model of a 6-DOF Manipulator using ANSYS Workbench 13.0 that allows integrated optimization. The load between driving and driven gear is delivered by elastic frictional contact, which leads to some non-liner contact problems, and the contact problems are solved according...

development of an intelligent huggable robot named ANTY (Fig.1) that will interact with hospitalized children to distract and support them during their stay in hospital. This robot is subject of a multidisciplinary project covering research opportunities not only in mechanical design, vision, speech and AI, but also in sociology and psychology. The main goal of the first phase is the developmen...

A multi-DOF ultrasonic motor developed in our previous study has significant potentials for dexterous actuation. The ultrasonic motor provides multiDOF rotation of a spherical rotor using three natural vibrations of a bar-shaped stator. In this paper, numerical analyses on the multi-DOF ultrasonic motor are conducted. First, a forward model of multi-DOF ultrasonic motor is developed considering...

We analyze the theories of gravity modified by a generic nonderivative potential built from the metric, under the minimal requirement of unbroken spatial rotations. Using the canonical analysis, we classify the potentials V according to the number of degrees of freedom (DoF) that propagate at the nonperturbative level. We then compare the nonperturbative results with the perturbative DoF propag...

In this research paper, the multilayer feedforward neural network (MLFFNN) is architected and described for solving forward inverse kinematics of 3-DOF articulated robot. When designing MLFFNN kinematics, joints' variables are used as inputs to network, positions orientations robot end-effector outputs. case designed using only inputs, whereas joints’ For both cases, training proposed accomplis...

A multi-DOF ultrasonic motor developed in our previous study has significant potentials for dexterous actuation. The ultrasonic motor provides multiDOF rotation of a spherical rotor using three natural vibrations of a bar-shaped stator. In this paper, numerical analyses on the multi-DOF ultrasonic motor are conducted. First, a forward model of multi-DOF ultrasonic motor is developed considering...

An efficient path planning algorithm, for multi degrees of freedom manipulator robots in dynamic environments, is presented in this paper. The proposed method is based on a local planner and a boundary following method for rapid solution finding. The local planner is replaced by the boundary following method whenever the robot gets stuck in a local minimum. This method was limited to 2-DoF mobi...

Humans are usually better than autonomous robots in operating in complex environments. In bilateral teleoperation, to take full advantage of the human’s intelligence, experience, and sensory inputs for performing a dexterous task, a possibility is to use the two hands of the user to manipulate two master haptic devices in order to control a slave robot with multiple degrees-of-freedom (DOF); th...

Motion planning in the configuration space (C-space) induces benefits, such as smooth trajectories. It becomes more complex degrees of freedom (DOF) increase. This is due to direct relation between dimensionality search and DOF. Self-organizing neural networks (SONN) with their famous candidate, Self-Organizing Map, have been proven be useful tools for C-space reduction while preserving its und...