In this paper, the contact force detection, isolation and estimation problems for an orbital robot are addressed. First, observer based on a base-joints dynamics is reviewed analyzed considering issues related to space robotic application. Then, new scheme derived reformulating in terms of motion centroid whole joints. both observers, three momentum-based residuals defined, which can be used re...

Since the establishment of robotics in industrial applications, robot programming involves therepetitive and time-consuming process manually specifying a fixed trajectory, which results machineidle time terms production necessity completely reprogramming for different tasks.The increasing number applications unstructured environments requires not only intelligent butalso reactive controllers, d...

In this paper, a new modified particle swarm optimization, m-PSO, is proposed, in which the novelty consists of proposing fitness-based optimization algorithm, PSO, adapts particles’ behavior rather than PSO parameters and where particles evolve differently considering their level optimality. A multi-objective MO, approach then built based on m-PSO. proposed method, with fitness better mean loc...

In the present article, a 1-DOF modular robotic hand inspired by human two-arm cooperative handling strategy was presented to achieve flexible applications in object grasping. The characterized as 1-DOF, modular, symmetrically designed and partly soft. soft finger could produce independent elastic deformation adapt surface passively without additional requirement of control. is based on bus con...

We present the Human And Robot Multimodal Observations of Natural Interactive Collaboration (HARMONIC) dataset. This is a large multimodal dataset human interactions with robotic arm in shared autonomy setting designed to imitate assistive eating. The provides human, robot, and environmental data views 24 different people engaged an eating task 6-degree-of-freedom (6-DOF) robot arm. From each p...

We propose a new method for collision-free planning using Conditional Generative Adversarial Networks (cGANs) to transform between the robot's joint space and latent that captures only areas of space, conditioned by an obstacle map. Generating multiple plausible trajectories is convenient in applications such as manipulation robot arm enabling selection avoids collision with or surrounding envi...