Robots are complex controlled dynamical systems interacting with their environment. Agile robotic have been penetrating almost all industrial sectors as the backbone for automation, ranging from heavy duty manipulators to collaborative robots (cobots) and mobile platforms logistics tasks. Currently, autonomous vehicles (e.g., cars, delivery systems, drones, inspection, maintenance) entering pub...

1. BIOLOGICALLY INSPIRED APPROACHES TO PERCEPTION, KNOWLEDGE REPRESENTATION AND ACTION IN ROBOTICS ............................................................................................................................. 2 2. COORDINATED PLANNING, ESTIMATION, AND NAVIGATION FOR AUTONOMOUS MOBILE ROBOTS ............................................................................................

When robots are controlled in the task space, singularities and joint limits are among the most critical and difficult issues that can arise. In this paper, we propose a new approach for the robots to operate in the regions near singularities and joint limits using the operational space control framework. Specifically, a continuous task transition algorithm called the intermediate desired value...

In this paper we develop two noble mechanisms for im proving the motions of humanoid robots The double spherical joint is a six DOF joint that consists of six sin gle DOF mechanical pairs in series with their axes inter secting at a point The double spherical joint replaces two hip joints six DOF of humanoid robot and even provides the equivalent function of waist joints without actually adding...

Robots are envisioned to collaborate with people in tasks that require physical manipulation such as a robot instructing a human in assembling household furniture, a human teaching a robot how to repair machinery, or a robot and a human collaboratively completing construction work. These scenarios characterize joint actions in which the robot and the human must effectively communicate and coord...