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Dependability of Mobile Robots in Direct Interaction with Humans
Operating interactive mobile robots in unmodified natural environments such as in museums or at exposition areas impose requirements on the robots,...
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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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Adaptive and Distributed Coordination Algorithms for Mobile Sensing Networks
Consider n sites evolving within a convex polygon according to one of the following interaction laws: (i) each site moves away from the closest other...
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4 Co-existence: Physical Interaction and Coordinated Motion
Co-existence an co-operation between a human and a machine which can move and act in an autonomous mode involves a form of interaction which goes...
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The Robotic Bar – An Integrated Demonstration of a Robotic Assistant
Coming out of the labs, the first robots are currently appearing on the consumer market. Initially they target rather simple application scenarios...
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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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Learning Behavioral Sequences by Means of Nonlinear Dynamics
We present a software architecture for the behavioral organization of a mobile robot which is entirely based on nonlinear dynamical systems. The...
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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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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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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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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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Thresholding Segmentation and Classification in Automated Ultrasonic Testing Image of Electrical Contact
This paper is concerned with the thresholding segmentation of ultrasonic C-scan image for defect with artificial intelligence and support vector...
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6 Conclusion
Controllable underactuated manipulators were successfully developed based on the nonlinear control theoretic approach. The nonholonomic gear is...
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4 Design of the chained form manipulator
Nonholonomic underactuated systems are typically modelled as highly nonlinear ones, which becomes obvious as the dimension of the system increases....
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4. How to Decide and Act? Use Intelligent Systems and Control Techniques
In robot soccer, the game situation in the playground is typically read in terms of the robots’ postures and the ball’s position. Using real-time...
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On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles
In this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown...
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Model-Based Friction Compensation
Compensation of nonlinear friction terms is a most challenging application of high resolution encoders, which are nowadays getting available for...
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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...