We have developed a precise and high-speed arm applied to assembly processes in electrical product and machine industries. The arm is designed based on the requirement from Japanese major industries. The paper addresses the background of the development, the required specification for the robot arm, and the brief introduction of the prototype arm and evaluations of accuracy. We test the repeata...

The paper first discusses the reasons why simplified solutions for the mechanical structure of fingers in robotic hands should be considered a worthy design goal. After a brief discussion about the mechanical solutions proposed so far for robotic fingers, a different design approach is proposed. It considers finger structures made of rigid links connected by flexural hinges, with joint actuatio...

This report, known as the first year’s report, will cover the activities of some eight months of the first year of our project, ‘Building a model-based diagnostic engine for a multi-joint serial robot arm’. The report will detail the motivation for the project and contain a discussion of its value. We present our investigation of previous and current work in the field of diagnosis and our concl...

Dedicated to my parents, Helene and Stuart Tuck. iv ACKNOWLEDGEMENTS I would like to thank my mother and father, without whose guidance and support I would not be here.

A novel category of humanoid robotic hands: COSA (Coupled and Self-Adaptive) hand is introduced in this paper. If a hand is called the COSA hand, which means that the fingers of the hand grasps objects with a special COSA grasping mode, which includes two processes, first is a coupled grasping process, then the second is a self-adaptive grasping process. The COSA grasping mode can take many adv...

Aiming to overcome the serious disadvantages of two kinds of under-actuated fingers: coupled finger and self-adaptive finger, this paper proposed a novel grasping mode, called Coupled and Self-Adaptive (COSA) grasping mode, which includes 2 stages: firstly coupled and then self-adaptive grasping. A 2-joint COSA finger with double tendons mechanisms (called COSA-GRS finger), is designed based on...

The force vector information is essential while collision avoidance planning through tactile feedback in autonomous or teleoperation mode. In this paper, we concentrate on the approach to calculation of the applied force vector at any point of the robot arm and its technical realization. Based on the presented force vector calculation flow, we obtained the experimental results validating the ab...

An approach for estimating the pose and motion of a known moving object in three dimensions from a sequence of monocular images is considered. The principle is t o obtain initial estimates of the pose and motion parameters and to update them by using feature location measurements made from subsequent monocular ima.ge frames. The ultimate goal is to use the obtained estimates for controlling the...

HARMI (Human and Robotic Musical Improvisation) is a software and hardware system that enables musical robots to improvise with human performers. The goal of the system is not to replicate human musicians, but rather to explore the novel kinds of musical expression that machines can produce. At the same time, the system seeks to create spaces where humans and robots can communicate with each ot...