Remote labs are increasingly being used as an effective tool for letting students practicing with real experiments, with limited effort and cost. A multi-robot setup, based on the LEGOMindstorms technology and the Matlab environment, allowing students to experiment with real robots through the Internet, has been developed. In this paper, a novel feature of this setup is presented. The concept o...

In this paper, we present a novel methodology to perform collective transport in the presence of obstacles. Three robots are physically connected in a semicircle around an object to be transported from a start to a goal location. The task poses two main challenges. First, the presence of both a goal and obstacles requires appropriate negotiation of the direction among the members of the group. ...

This paper presents WOAH, a method for real-time mobile robot path following and obstacle avoidance. WOAH provides reactive speed and turn instructions based on obstacle information sensed by a laser range finder. Unlike many previous techniques, this method allows a robot to move quickly past obstacles that are not directly in its path, avoiding slowdowns in path following encountered by previ...

We investigate how the use of haptic feedback through electrical muscle stimulation (EMS) can improve collision-avoidance in a robot teleoperation scenario. Background: Collision-free requires extensive situation awareness by operator. This is difficult to achieve purely visually when obstacles exist outside robot’s field view. Therefore, from other sensory channels be beneficial. Method: compa...

Gait variability may serve as a sensitive and clinically relevant parameter to quantify adjustments in walking and the changes with aging and neurological disease. Variability of steps preceding obstacle avoidance (approach phase) are important for efficiency in the task, especially in people with Parkinson's disease (PD). However, variability of gait during the approach phase to obstacle avoid...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

We extend a dynamic approach of behavior generation to the representation of spatial information. Two levels of dynamics integrate dead-reckoning, dominant far from home bases, and piloting, dominant near home bases. When the view-based piloting system recognizes a home base, visual place information re-calibrates the dead-reckoning system, inverting the hierarchical ordering of the two dynamic...

This master’s project addresses the obstacle avoidance problem in difficult scenarios in three-dimensional workspaces. The main contribution of this project is the theoretical extension of the ObstacleRestriction Method (ORM) in two dimensions to work in 3D workspaces. This master’s thesis describes a reactive obstacle avoidance technique to drive a robot in dense, cluttered and complex environ...

We are developing techniques for safeguarding the remote operation of lunar rovers. This paper presents two complementary techniques: One, based on stereo vision, evaluates the traversability of paths the rover could follow, and produces preferences for steering directions. The other, based on laser proximity sensing, looks for hazards immediately in front of the rover, commanding an emergency ...