Robotic systems have been widely used in many areas to assist human beings. Mobile manipulators are among the most popular choices. This paper investigates human assistance systems using a mobile manipulator, for example, to guide the blind and to transport objects. Distinct from existing systems, an integrated dynamic model and controller of the mobile manipulator are designed. Singularity, manipulability and safety are all considered in the system design. Furthermore, two human assistance modes - Robot-Human mode and Teleoperator-Robot-Human mode - are designed and analysed. The Teleoperator-Robot-Human mode can integrate human intelligence into the assistance system to further enhance the system efficiency and safety. The experimental re...
One of the most important design constraints of a climbing robot is its own weight. When links or le...
High degrees of freedom (DOF) mobile manipulators provide more flexibility than conventional manipul...
In this article we describe a programming framework called Pyro, which provides a set of abstraction...
Collaborative tasks between human operators and robotic manipulators can improve the performance and...
This paper describes an approach to solve the inverse kinematics problem of humanoid robots whose ...
This paper presents two vision-based interfaces for disabled people to command a mobile robot for pe...
Nowadays, one of the main topics in robotics research is dynamic performance improvement by means of...
When moving in generic indoor environments, robotic platforms generally rely solely on information p...
We present an intuitive system for the programming of industrial robots using markerless gesture rec...
One of the main features of the human hand is its grasping ability. Robot grasping has been studied...
The present paper explores the industrial capabilities of a CAM‐ROB system implementation based on...
Anticipatory systems have been shown to be useful in discrete, symbolic systems. However, nonsymbol...
This paper elaborates upon a musculoskeletal‐ inspired robot manipulator using a prototype of the s...
Humanitarian demining is a calamity of war affecting many third world countries. Mines are cheap wea...
This paper presents a novel algorithm which registers pressure information from tactile sensors inst...
One of the most important design constraints of a climbing robot is its own weight. When links or le...
High degrees of freedom (DOF) mobile manipulators provide more flexibility than conventional manipul...
In this article we describe a programming framework called Pyro, which provides a set of abstraction...
Collaborative tasks between human operators and robotic manipulators can improve the performance and...
This paper describes an approach to solve the inverse kinematics problem of humanoid robots whose ...
This paper presents two vision-based interfaces for disabled people to command a mobile robot for pe...
Nowadays, one of the main topics in robotics research is dynamic performance improvement by means of...
When moving in generic indoor environments, robotic platforms generally rely solely on information p...
We present an intuitive system for the programming of industrial robots using markerless gesture rec...
One of the main features of the human hand is its grasping ability. Robot grasping has been studied...
The present paper explores the industrial capabilities of a CAM‐ROB system implementation based on...
Anticipatory systems have been shown to be useful in discrete, symbolic systems. However, nonsymbol...
This paper elaborates upon a musculoskeletal‐ inspired robot manipulator using a prototype of the s...
Humanitarian demining is a calamity of war affecting many third world countries. Mines are cheap wea...
This paper presents a novel algorithm which registers pressure information from tactile sensors inst...
One of the most important design constraints of a climbing robot is its own weight. When links or le...
High degrees of freedom (DOF) mobile manipulators provide more flexibility than conventional manipul...
In this article we describe a programming framework called Pyro, which provides a set of abstraction...