Robot control ≈ Robot control
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Robot Collisions: A Survey on Detection, Isolation, and Identification Open
Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possi…
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A review of mobile robots: Concepts, methods, theoretical framework, and applications Open
Humanoid robots, unmanned rovers, entertainment pets, drones, and so on are great examples of mobile robots. They can be distinguished from other robots by their ability to move autonomously, with enough intelligence to react and make deci…
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Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control Open
© 2018 IEEE. This paper presents an implementation of model predictive control (MPC) to determine ground reaction forces for a torque-controlled quadruped robot. The robot dynamics are simplified to formulate the problem as convex optimiza…
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A Mass-Produced Sociable Humanoid Robot: Pepper: The First Machine of Its Kind Open
As robotics technology evolves, we believe that personal social robots will be one of the next big expansions in the robotics sector. Based on the accelerated advances in this multidisciplinary domain and the growing number of use cases, w…
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Deep reinforcement learning based mobile robot navigation: A review Open
Navigation is a fundamental problem of mobile robots, for which Deep Reinforcement Learning (DRL) has received significant attention because of its strong representation and experience learning abilities. There is a growing trend of applyi…
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Development of quadruped walking robots: A review Open
Nowadays, design, development, and motion planning of a mobile robot explore research areas in the field of robotics. Mobile robots have an extensive area of applications in various fields like space exploration, military application, indu…
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Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges Open
Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp …
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Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation Open
In this paper, we extend the concept of control barrier functions, developed initially for continuous time systems, to the discrete-time domain.We demonstrate safety-critical control for nonlinear discrete-time systems with applications to…
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A comprehensive study for robot navigation techniques Open
An intelligent autonomous robot is required in various applications such as space, transportation, industry, and defense. Mobile robots can also perform several tasks like material handling, disaster relief, patrolling, and rescue operatio…
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Mobile Robot Navigation and Obstacle Avoidance Techniques: A Review Open
Mobile robot is an autonomous agent capable of navigating intelligently anywhere using sensor-actuator control techniques.The applications of the autonomous mobile robot in many fields such as industry, space, defence and transportation, a…
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Should we welcome robot teachers? Open
Current uses of robots in classrooms are reviewed and used to characterise four scenarios: (s1) Robot as Classroom Teacher; (s2) Robot as Companion and Peer; (s3) Robot as Care-eliciting Companion; and (s4) Telepresence Robot Teacher. The …
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To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot Open
We conducted a user study for which we purposefully programmed faulty behavior into a robot’s routine. It was our aim to explore if participants rate the faulty robot different from an error-free robot and which reactions people show in in…
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Dynamic control of soft robots interacting with the environment Open
Despite the emergence of many soft-bodied robotic systems, model-based feedback control has remained an open challenge. This is largely due to the intrinsic difficulties in designing controllers for systems with infinite dimensions. In thi…
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A Soft, Steerable Continuum Robot That Grows via Tip Extension Open
Soft continuum robots exhibit access and manipulation capabilities in constrained and cluttered environments not achievable by traditional robots. However, navigation of these robots can be difficult due to the kinematics of these devices.…
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Active collision avoidance for human–robot collaboration driven by vision sensors Open
Establishing safe human-robot collaboration is an essential factor for improving efficiency and flexibility in today's manufacturing environment. Targeting safety in human-robot collaboration, this paper reports a novel approach for effect…
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Robust Rough-Terrain Locomotion with a Quadrupedal Robot Open
Robots working in natural, urban, and industrial settings need to be able to navigate challenging environments. In this paper, we present a motion planner for the perceptive rough-terrain locomotion with quadrupedal robots. The planner fin…
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Improved Trust in Human-Robot Collaboration With ChatGPT Open
Human-robot collaboration is becoming increasingly important as robots become more involved in various aspects of human life in the era of Artificial Intelligence. However, the issue of human operators’ trust in robots remains a significan…
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Genetic Algorithm-Based Trajectory Optimization for Digital Twin Robots Open
Mobile robots have an important role in material handling in manufacturing and can be used for a variety of automated tasks. The accuracy of the robot’s moving trajectory has become a key issue affecting its work efficiency. This paper pre…
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The Thorvald II Agricultural Robotic System Open
This paper presents a novel and modular approach to agricultural robots. Food production is highly diverse in several aspects. Even farms that grow the same crops may differ in topology, infrastructure, production method, and so on. Modula…
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The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System Open
In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers …
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Developing Kaspar: A Humanoid Robot for Children with Autism Open
In the late 1990s using robotic technology to assist children with Autistic Spectrum Condition (ASD) emerged as a potentially useful area of research. Since then the field of assistive robotics for children with ASD has grown considerably …
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Distributed multi-robot formation control in dynamic environments Open
This paper presents a distributed method for formation control of a homogeneous team of aerial or ground mobile robots navigating in environments with static and dynamic obstacles. Each robot in the team has a finite communication and visi…
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How to Build a Supervised Autonomous System for Robot-Enhanced Therapy for Children with Autism Spectrum Disorder Open
Robot-Assisted Therapy (RAT) has successfully been used to improve social skills in children with autism spectrum disorders (ASD) through remote control of the robot in so-called Wizard of Oz (WoZ) paradigms.However, there is a need to inc…
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Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation Open
This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation an…
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Fast Online Trajectory Optimization for the Bipedal Robot Cassie Open
We apply fast online trajectory optimization for multi-step motion planning to Cassie, a bipedal robot designed to exploit natural spring-mass locomotion dynamics using lightweight, compliant legs.Our motion planning formulation simultaneo…
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Affective Touch in Human–Robot Interaction: Conveying Emotion to the Nao Robot Open
Affective touch has a fundamental role in human development, social bonding, and for providing emotional support in interpersonal relationships. We present, what is to our knowledge, the first HRI study of tactile conveyance of both positi…
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Constrained robot control using control barrier functions Open
Many robotic applications, especially if humans are involved, require the robot to adhere to certain joint, workspace, velocity or force limits while simultaneously executing a task. In this paper, we introduce a control structure, which m…
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Understandable robots - What, Why, and How Open
As robots become more and more capable and autonomous, there is an increasing need for humans to understand what the robots do and think. In this paper, we investigate what such understanding means and includes, and how robots can be desig…
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Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain Open
International audience
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Current trends in reconfigurable modular robots design Open
This article presents a review on trends in modular reconfigurable robots, comparing the evolution of the features of the most significant robots over the years and focusing on the latest designs. These features are reconfiguration, dockin…