This paper is about the implementation of grasping skills in a humanoid robot. Following a developmental approach the robot is initially equipped with little perceptual and motor competencies whose role is to bootstra...
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In the submillimetric objects manipulations, the adhesion (capillary force, pull-off force and Van-der-Waals force) and the electrostatic forces affect the behavior of the micro-objects. These forces decrease signific...
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作者：
Böhlen, MarcSchool of Art
The Robotics Institute Carnegie Mellon University PittsburghPA United States
Typically, the animal world has been used conceptually by roboticists as a source of inspiration for finding new approaches to efficient locomotion, perception and intelligent control [Brooks91], [Hallam, Walker93], [...
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The Technical Committee (TC) on Performance Evaluation and Benchmarking of Robotic and automation Systems (TC-PEBRAS) was approved at the Technical Activities Board (TAB) meeting held at the 2009 international Confere...
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The Technical Committee (TC) on Performance Evaluation and Benchmarking of Robotic and automation Systems (TC-PEBRAS) was approved at the Technical Activities Board (TAB) meeting held at the 2009 international Conference on robotics and automation (ICRA) in Kobe, Japan. It is intended to serve as a forum to address performance evaluation and benchmarking issues pertaining to robotic and automation systems, in general.
Hospitals face with heavy traffic of goods everyday, where transportation tasks are mainly carried by human. Analysis of the current situation of transportation in a typical hospital showed several transportation task...
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This paper discusses the computational efficiency of some procedures for solving the inverse kinematics problem of serial-link manipulators with redundant DOF. Two procedures that the author has newly developed, are c...
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ISBN:
(纸本)0780372034
This paper discusses the computational efficiency of some procedures for solving the inverse kinematics problem of serial-link manipulators with redundant DOF. Two procedures that the author has newly developed, are compared to the most widely used SVD methods. One is called the fast similarity factorization (FSF) method, in which the symmetric matrix JJ(T) (J is the Jacobian of the manipulator) is factorized to GDG(T) (G is the orthogomal matrix and D is the diagonal matrix). Another procedure, that the author also developed, is a recursive formulation, in which the joint-variable variations are obtained n (the number of DOF of the manipulator) times recursive calculations. Both methods are fast and robust. The computer simulation for a seven DOF anthropomorphic type manipulator reveales the proposed methods are several times faster than the conventional algorithms based on the SVD.
It is very difficult to design the learning structure of a robot beforehand in an unknown and dynamic environment, because the dynamics of the environment is unknown. Therefore, this paper proposes a fuzzy spiking neu...
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Information theoretic methods are used to characterise and identify robot-environment interactions, with a view to using these to build an embodied interaction history from the robot's perspective. A bottom-up app...
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For fast-motion industrial robots, the limits of the velocity and the acceleration vary over the whole work-space. To make industrial robots move with fully high velocity and high acceleration along the specified traj...
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