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In Situ Autonomous Biomechanical Characterization
This paper presents a fully automated microrobotic system based on force/vision referenced control designed for cell mechanical characterization. The...
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Image-Based Visual Servoing for Mobile Robots with Catadioptric Camera
This paper presents an image-based visual servoing strategy for holonomic mobile robots equipped with a catadioptric camera. This kind of vision...
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Representation, Recognition and Generation of Actions in the Context of Imitation Learning
The paper deals with the development of a cognitive architecture for learning by imitation in which a rich conceptual representation of the observed...
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A Measurement-Theoretic Foundation of Rule Interestingness Evaluation
Many measures have been proposed and studied extensively in data mining for evaluating the interestingness (or usefulness) of discovered rules. They...
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Mining for Patterns Based on Contingency Tables by KL-Miner – First Experience
A new datamining procedure called KL-Miner is presented. The procedure mines for various patterns based on evaluation of two–dimensional contingency...
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Perception for Human Motion Understanding
The fact that people are embodied places powerful constraints on their motion. By leveraging these constraints, we can build systems to perceive...
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Rational Theory of Intuition and Its Epistemological Consequences
This chapter explains and develops the Rational Theory of Intuition introduced in (Wierzbicki 1992, 1997). After preliminary comments, it is...
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11 Safety Evaluation Method of Rehabilitation Robots
An aged society comes soon. Human-care robots must be realized to nurse aged and disabled persons. Human-care robot will need to work around elderly...
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26 STRING-MAN: A Novel Wire Robot for Gait Rehabilitation
This paper presents a novel robotic prototype for advanced gait rehabilitation. This system integrates sophisticated robotic technology with control...
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Statistical Recognition of Motion Patterns
One key prerequisite for a machine to interact intelligently with people is its ability to recognize humans as interaction partners and to understand...
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Flocking in Teams of Nonholonomic Agents
The motion of a group of nonholonomic mobile agents is synchronized using local control laws. This synchronization strategy is inspired by the early...
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The Control Architecture of Care-O-bot II
Robot assistants act in dynamic environments and have to cope with changing situations: they must be able to sense the world and to control their...
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Robotic Home Assistant Care-O-bot II
Technical aids allow elderly and handicapped people to live independently in their private homes as long as they wish. As a contribution to these...
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Next Generation Teach Pendants for Industrial Robots
Teach pendants for industrial robots have sometimes been quite rudimentary in the past, and often enough users had to learn to cope with whatever is...
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RTLinux-Based Controller for the SuperMARIO Mobile Robot
In the last years a new way to implement Real Time control systems has been opened, in connection with the diffusion of the open-source operating...
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Vision Based Motion Planning of Humanoid Robots
Vision is the most effective sensing form for humans in understanding their environment, recognition of the objects around them and navigating from...
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Fuzzy-Neural Impedance Control for Robots
In conventional impedance control, the difficulties encountered in obtaining an exact system dynamic model and selecting its impedance parameters...
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Evolution of Locomotion Controllers for Legged Robots
The construction of a locomotion controller for legged robots is a difficult and time consuming process. This task can be automated through the use...
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Robust Stability of Interval Lur’e Systems: A Bilinear Matrix Inequality Approach
This paper provides a sufficient condition for an interval Lur’e system to be globally exponentially stable with a dam** factor. The Lur’e system...
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6 Conclusion
Controllable underactuated manipulators were successfully developed based on the nonlinear control theoretic approach. The nonholonomic gear is...