In this paper, we describe a visual servoing system developed as a human-robot interface to drive a mobile robot toward any chosen target. An omni-directional camera is used to get the 360 degree of field of view, and an efficient SSD based tracking technique is developed to track the target. The use of the omnidirectional geometry eliminates many of the problems common in visual tracking and m...

All mobile bases suffer from localization errors. Previous approaches to accommodate for localization errors either use external sensors such as lasers or sonars, or use internal sensors like encoders. An encoder’s information is integrated to derive the robot’s position; this is called odometry. A combination of external and internal sensors will ultimately solve the localization error problem...

In this work the theoretical bases of the force adaptation in robot transmissions are stated. The force adaptation in robot transmissions considers creation, research and designing of robots with adaptive electric drives of modules. The adaptive drive contains the electric motor and the adaptive gear mechanism possessing property independently to change output speed of movement depending on loa...

The role of input noise is seldom considered in robot calibration. The methodology of total least squares may be applied to handle both input and output noise in robot calibration. Experimentally, we apply this method towards joint torque sensor calibration, and towards kinematic calibration of a redundant parallel-drive spherical joint in a variant called the implicit loop method.

In this paper, we developed two noble mechanisms for improving the motions of humanoid robots. The double spherical hip joint provides the equivalent function of waist joints without actually adding them. The backlush clutch is a new drive mechanism for knee joints of humanoid robots, which enables switching between drive and free modes. We developed a humanoid robot equipped with these two mec...

This paper introduces an optical flow based odometry solution for indoor mobile robots. The indoor localization of mobile robots is an important issue according to the increasing mobile robot market and the needs of the industrial, service and consumer electronics sectors. The robot odometry calculated from the robot kinematics accumulates the position error caused by the wheel slip but an opti...