Social Robotics is an interdisciplinary playground where researchers from sociology, psychology, neuroscience, and robotics meet to design one kind of future robot: the social robot. This challenge is simple to describe, but complex to achieve. The social robot can be a classical robot or a machine with sufficient resources and capabilities to receive and exchange information with humans, with ...

2. Properties of Odometry Errors This paper describes a practical method for reducing In a typical differential drive mobile robot incremental odometry errors caused by kinematic imperfections of a mobile encoders are mounted onto the two drive motors to count the robot. These errors, here referred to as "systematic" errors, stay wheel revolutions. After a short sampling interval I the left and...

A new position controller with gravity compensation for robot manipulators in joint space is proposed in this paper. The goal of position control problem for global asymptotically stability is achieved by using Lyapunov ’s direct method and LaSalle ’s invariance principle over the full non—linear mutivariable robot closed—loop system. In adition, this paper also presents experimental results on...

This paper presents a new observability index to quantify the selection of best pose set in robot calibration. This noise amplification index is considerably more sensitive to calibration error than previously published observability indices. Support for the proposed andex is provided analytically and geometrically, and also through comparison against previous indices by a simulation for a 3-li...

In this article, we propose a bio-inspired architecture for a quadruped robot that is able to initiate/stop locomotion; generate different gaits, and to easily select and switch between the different gaits according to the speed and/or the behavioral context. This improves the robot stability and smoothness while locomoting. We apply nonlinear oscillators to model Central Pattern Generators (CP...

The bouncing gaits of terrestrial animals (hopping, running, trotting) can be modeled as a hybrid dynamic system, with spring-mass dynamics during stance and ballistic motion during the aerial phase. We used a simple hopping robot controlled by an artificial neural oscillator to test the ability of the neural oscillator to adaptively drive this hybrid dynamic system. The robot had a single join...

The purpose of this paper is to present our results in developing a dynamic model of the Mitsubishi PA-10 robot arm for the purpose of low velocity trajectory tracking using very low feedback gains. The novelty of this research is therefore the development of a systematic algorithm to extract the model parameters of a harmonic drive transmission in the robot arm to facilitate model-based contro...

This paper details the design and implementation of a wheeled mobile robot, which will be referred to as Mobius (Mobile Vision Autonomous System), for selfsustained indoor operation. Its rugged design enables it to be easily customised with auxiliary equipment providing a wide application base. This is facilitated by an accurately controlled high power drive system, with onboard power and compu...

This work presents the minimal length paths, for a robot that maintains risibility of a landmark. The robot is a differential drive system and has limited sensing capabilities (range and angle of view). The optimal paths are eomposed of straight liner and curves that saturate L e Camera pan angle.

The design and implementation of a cross-coupling motion controller for a differential-drive mobile robot is described here. A new concept, the most significant error, is introduced as the control design objective. Cross-coupling control directly minimizes the most significant error by coordinating the motion of the two drive wheels. The cross-coupling controller has excellent disturbance rejec...