In this letter, a model based disturbance attenuator (MBDA) for robot manipulators is proposed and the stability of the MBDA in robot positioning problems is proved via Liapunov’s direct method. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modelling errors so that the plant output remains relatively unaffected by them. The output error ...

In this paper we present a novel procedure to obtain the control code for a mobile robot executing sensor-motor tasks. The process works in two stages: First, the robot is controlled by a human operator who manually guides the robot through the sensor-motor task. The robot’s motion is then “identified”, using the NARMAX system identification technique. This process, which we refer to as RobotMO...

This paper describes the first prototype of a “Programming by demonstration” (PbD) system for position teaching of a robot manipulator. A new approach for enabling PbD using supervised learning is presented, by connecting a wearable input device for sensing human arm movements to the software controller of a robot arm. The method does not require analytical modelling of either the human arm or ...

The main goal of the RAC project is to develop a robotic soccer team for the RoboCup small-size league competitions. This paper is focused on two main issues: omnidirectional drive control design and modelling, and robot design and construction. The robot hardware implementation and design options are presented. Based on the robot kinematic model, a motion controller is designed using trajector...

This paper presents the current development stage of an approach to industrial robot programming, that includes: a truly high level and declarative language; an easy-to-use front-end; an intermediate representation; an automatic generator of the robot code generators. This approach focus on the modelling of the system, rather than on the robot. So, it will improve the programming and maintenanc...

Built from a need for modelling cognitive processes, a modular neural network is designed as the “brain” of a virtual robot moving in a prey-predator environment. The robot decides its path from the animals it identifies around. Both a parallel implementation of distributed processes and a temporal coding of spiking neurons allow the robot to develop multimodal perception with attentional mecha...

In previous work, we have argued that a sophisticated cognitive system with a complex body must possess configurable models of itself (or at least its body) and the world, along with the necessary infrastructure to use the modelled interactions between these two components to select relatively advantageous actions. These models may be used to generate representations of the future (imagination)...

We propose the concept of Action-Related Place (ARPlace) as a powerful and flexible representation of task-related place in the context of mobile manipulation. ARPlace represents robot base locations not as a single position, but rather as a collection of positions, each with an associated probability that the manipulation action will succeed when located there. ARPlaces are generated using a p...

In all of the RoboCup soccer leagues, teams of robots compete to score goals in the presence of opponent robots. We focus on the RoboCup Standard Platform League (SPL), in which the robot platform is the same for all the competing teams, and the robots are fully autonomous with onboard directional perception, computation, action, and wireless communication among them. We address the problem of ...

Assessment and evaluation methodologies as well as combinations of them, for modelling of Human–Robot Interaction (HRI), are reviewed extensively and thoroughly in this paper. However, based on the types of robots and the kinds of interactions involved in the modelling of HRI, we concentrate just on the assistive social robot types. A comprehensive review has been done on each of these extensiv...