Human Impression of Humanoid Robots Mirroring Social Cues [PDF]
Mirroring non-verbal social cues such as affect or movement can enhance human-human and human-robot interactions in the real world. The robotic platforms and control methods also impact people's perception of human-robot interaction. However, limited studies have compared robot imitation across different platforms and control methods.
arxiv +1 more source
Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots [PDF]
arXiv, 2023 Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative manipulation tasks, including uncertainties arising from object properties, shape, and terrain.
arxiv
Evolving Multi-Objective Neural Network Controllers for Robot Swarms [PDF]
arXiv, 2023 Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a low-fidelity Python simulator and then tested in a high-fidelity simulated environment using Webots.
arxiv
Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller [PDF]
arXiv, 2019 This paper reports the design and implementation of a three-link brachiation robot. The robot is able to travel along horizontal monkey bars using continuous arm swings. We build a full order dynamics model for the robot and formulate each cycle of robot swing motion as an optimal control problem.
arxiv
Identification Algorithm to Determine the Trajectory of Robots with Singularities [PDF]
arXiv, 2019 Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it can change its direction to avoid the singularity situation.
arxiv
Control Framework for a Hybrid-steel Bridge Inspection Robot [PDF]
arXiv, 2020 Autonomous navigation of steel bridge inspection robots is essential for proper maintenance. The majority of existing robotic solutions for bridge inspection require human intervention to assist in the control and navigation. In this paper, a control system framework has been proposed for a previously designed ARA robot [1], which facilitates ...
arxiv
Implementation of Torque Controller for Brushless Motors on the Omni-directional Wheeled Mobile Robot [PDF]
arXiv, 2017 The major issue for the wheeled mobile robot is the low level controller gains tuning up especially in the robot competition. The floor surface can be damaged by the robot wheels during the competition, therefore the surface coefficient can be changed over time. PI gains have to be tuned before every match along the competition.
arxiv
Towards Robot-independent Manipulation Behavior Description [PDF]
arXiv, 2014 In this paper we present a workflow to design and control robot manipulation behavior. To remain independent from particular robot hardware and an explicit area of application, an embedded domain specific language (eDSL) is used to describe the particular robot and a controller network that drives the robot. We make use of a) a component-based software
arxiv
Distributed Navigation of Multi-Robot Systems For Sensing Coverage [PDF]
arXiv, 2016 This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative review of these approaches and use the approach based on simple local coordination rules.
arxiv
Co-Design of a Robot Controller Board and Indoor Positioning System for IoT-Enabled Applications [PDF]
arXivThis paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially designed for emerging IoT-based robot applications and is capable of driving two 6-Amp motor channels.
arxiv