Modular robot manipulators have many advantages over conventional integrated robot manipulators, including flexibility, re-configurability, versatility, and low-cost with massive production. However, the lack of control precision has been a long standing drawback in MRM applications until now. In this paper, a VDC-based control and communication system using embedded FPGA (field programmable ga...

Ankle dysfunction is common in the public following injuries, especially for stroke patients. Most of current robotic ankle rehabilitation devices are driven by rigid actuators and have problems such as limited degrees freedom, lack safety compliance, poor flexibility. In this letter, we design a new type compliant robot redundantly pneumatic muscles (PMs) cables to provide full range motion to...

This paper introduces a software library of reinforcement learning (RL) methods, named SkyAI. SkyAI is a highly modularized RL library for real/simulated robots to learn behaviors. Our ultimate goal is to develop an artificial intelligence (AI) program with which the robots can learn to behave as their users’ wish. In this paper, we describe the concepts, the requirements, and the current imple...

This paper presents the open hierarchical architecture of mobile robot realized at the Faculty of Electrical Engineering, University of Sarajevo. The basic idea during development was to enable simple implementation of algorithms for control of mobile robot, without large interventions on hardware, and to avoid complex software implementation of algorithms. MATLAB was used as basic development ...

A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The...

With the rapid development of information technology , adopting advanced dist ributed com2 puting technology to construct robot control system is becoming an effective approach gradually. This paper proposes a dist ributed loosely coupled software architecture based on Agent and COR2 BA to control multiple robots. This model provides the robot user with agent control units at the semantic level...

As a contribution to the efforts towards robotic systems of higher flexibility we present our concept of morphologically dynamic robots. Within the projects SYMBRION and REPLICATOR, that focus on modular robotics, we have developed bio-inspired control techniques to achieve new concepts of dynamic, autonomous morphological structures. We propose three modes of coupling between robot modules: sw...

as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...