The paper discusses dynamics in human robot interaction Firstly we propose a terminology for classifying robot human interaction dynamics of increasing complexity Secondly we address the role of human robot interaction in a particular application area namely rehabilitation Speci cally we discuss the area of autism and how mo bile robots can play a therapeutic role in the reha bilitation of chil...

Abstract—Robot kinematics and dynamics is the basis of robotics research, providing the important basis for robot path planning and motion control etc. The paper focuses on the six degrees of freedom industrial robot which is developed independently, adopts the D-H method to do the forward kinematics analysis and inverse kinematics analysis for robot, establishes the kinematics model, and uses ...

This paper presents a horizontal rehabilitation robot based on parallel mechanism used after the femoral shaft fracture of hip. It can help patients to do passive exercises of hip. The system consist of three degrees of freedom actuated with linear actuators. The kinematics and dynamics of the mechanism is analyzed. The mechanical design of the robot is described. The forward and inverse kinema...

For uncalibrated visual servoing for image-based dynamic control of robot manipulators, acquiring an image Jacobian matrix (interaction matrix) or its inverse matrix is necessary and difficult. In this paper, a new controller of uncalibrated visual sevro using pseudo inverse of image Jacobian matrix is presented, which based on dynamics of robot manipulators. In this method, camera’s intrinsic ...

Dynamic motion taking advantage of inertia with a flexible-joint robot is useful for energy efficiency and rapid motions. However, it is difficult to control flexible joints considering the complexity of their dynamics. To overcome the problem in past studies, oscillator [1], attractor [2], and search tree [3] methods have been explored. Attractors and oscillators force trajectories to return t...

This paper considers the problem of path following control of a planar snake robot without sideslip constraints. We use Lagrangian mechanics to derive the dynamical equations of motion of the system. The possibility of controlling the orientation of the robot in the absence of external dissipative forces is investigated. An exponentially stabilizing joint control law for the actuated shape dyna...

This paper describes development and implementation of a decentralized continuous sliding mode motion controller for the robot manipulators. Adaptive fuzzy logic systems (FLSs), one for each robot axis, are employed to approximate almost a whole system dynamics. The structural properties of the robot dynamics are used for division of the each FLS to three simpler subsystems. This reduces the FL...

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...