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Time-jerk optimal trajectory planning of a 7-DOF redundant robot

Shaotian LU, Jingdong ZHAO, Li JIANG, Hong LIU
2017 Turkish Journal of Electrical Engineering and Computer Sciences  
In order to improve the efficiency and smoothness of a robot and reduce its vibration, an algorithm called the augmented Lagrange constrained particle swarm optimization (ALCPSO), which combines constrained  ...  Hence, the algorithm presents a solution for the time-jerk optimal trajectory planning problem of a robot subject to nonlinear constraints.  ...  In this paper, the configuration control scheme is used to solve the inverse kinematics of the 7-DOF redundant robot because this method can guarantee unique inverse kinematics and enable the robot to  ... 
doi:10.3906/elk-1612-203 fatcat:v3br4xalcvcphppgtya6ps5w3m

Human-Like Arm Motion Generation: A Review

Gianpaolo Gulletta, Wolfram Erlhagen, Estela Bicho
2020 Robotics  
In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning.  ...  For these reasons, human-like arm motion generation may not fully respect human behavioral and neurological key features and may result restricted to specific tasks of human-robot interaction.  ...  The elbow key position is maintained, while the flexibility of the wrist is exploited to adjust the robot configuration and avoid collisions.  ... 
doi:10.3390/robotics9040102 fatcat:fahjlaf6hraslknxo7ifw5o4au

Online human-like redundancy optimization for tele-operated anthropomorphic manipulators

Hang Su, Nima Enayati, Luca Vantadori, Andrea Spinoglio, Giancarlo Ferrigno, Elena De Momi
2018 International Journal of Advanced Robotic Systems  
This also holds for redundant robots with an anthropomorphic kinematics.  ...  In this article, we translated human ability of managing redundancy to control a seven degrees of freedom anthropomorphic robot arm (LWR4þ, KUKA, Germany) during tele-operated tasks.  ...  In this way, to constrain the joint angles to achieve human-like motion cannot be viewed as an universal method for the redundant robot arm with different kinematic design.  ... 
doi:10.1177/1729881418814695 fatcat:f65tskhorzbfpkfegbxtifetjm

The role of roles: Physical cooperation between humans and robots

Alexander Mörtl, Martin Lawitzky, Ayse Kucukyilmaz, Metin Sezgin, Cagatay Basdogan, Sandra Hirche
2012 The international journal of robotics research  
Two proposed dynamic role exchange mechanisms adjust the robot's urge to complete the task based on the human feedback.  ...  Since strict separation of working spaces of humans and robots experiences a softening due to recent robotics research achievements, close interaction of humans and robots comes rapidly into reach.  ...  We are convinced that the ability of a robotic system to adjust its own role within a cooperation is a relevant factor for the usefulness of future physical robotic assistants.  ... 
doi:10.1177/0278364912455366 fatcat:6ugfyobff5edxk4fezjfe2uwoq

Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control

Francesco Tassi, Elena De Momi, Arash Ajoudani
2021 Zenodo  
However, we propose an extension to the classical Hierarchical Quadratic Programming formulation, that allows to optimally generate these trajectories at control level.  ...  Today's robots are expected to fulfill different requirements originated from executing complex tasks in uncertain environments, often in collaboration with humans.  ...  effort, until the robot switches back to the constrained behaviour where the new equilibrium point is now considered (D).  ... 
doi:10.5281/zenodo.4596469 fatcat:q4itt644tjeihdqlwo5sbjkox4

Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control

Francesco Tassi, Elena De Momi, Arash Ajoudani
2021 Zenodo  
However, we propose an extension to the classical Hierarchical Quadratic Programming formulation, that allows to optimally generate these trajectories at control level.  ...  Today's robots are expected to fulfill different requirements originated from executing complex tasks in uncertain environments, often in collaboration with humans.  ...  effort, until the robot switches back to the constrained behaviour where the new equilibrium point is now considered (D).  ... 
doi:10.5281/zenodo.4663753 fatcat:3tnn7h46jrer3nwtpcqnva42am

Variable Admittance Control Based on Fuzzy Reinforcement Learning for Minimally Invasive Surgery Manipulator

Zhijiang Du, Wei Wang, Zhiyuan Yan, Wei Dong, Weidong Wang
2017 Sensors  
The proposed model provides continuous variable virtual damping to the admittance controller to respond to human intentions, and it effectively enhances the comfort level during the task execution by modifying  ...  A fuzzy partition defined over the state space is used to capture the characteristics of the operator in physical human-robot interaction.  ...  the attitude adjustment of the robot link on a joint level.  ... 
doi:10.3390/s17040844 pmid:28417944 pmcid:PMC5424721 fatcat:pd5m7ttsx5h4rdsawnfjhs5juq

On-line collision avoidance for collaborative robot manipulators by adjusting off-line generated paths: An industrial use case

Mohammad Safeea, Pedro Neto, Richard Bearee
2019 Robotics and Autonomous Systems  
Tests on an assembly robotic cell in automotive industry show that the robot moves smoothly and avoids collisions successfully by adjusting the off-line generated nominal paths.  ...  Consequently, the off-line generated nominal path of the industrial task is modified on-the-fly so the robot is able to avoid collision with the co-worker safely while being able to fulfill the industrial  ...  A passivity-based control scheme for human-robot safe cooperation is proposed in [17] .  ... 
doi:10.1016/j.robot.2019.07.013 fatcat:2xnzvkla3nbsnjrnklkzobnmji

A pilot clinical study on robotic assisted rehabilitation in VR with an arm exoskeleton device

Alberto Montagner, Antonio Frisoli, Luigi Borelli, Caterina Procopio, Massimo Bergamasco, Maria C. Carboncini, Bruno Rossi
2007 2007 Virtual Rehabilitation  
The development of new robotic devices for rehabilitation can lead to new and more efficient therapeutic procedures.  ...  The implementation of three different robotic schemes of therapy in virtual reality with this exoskeleton, based on an impedance control architecture, are presented and discussed in detail.  ...  The system is therefore redundant, allowing different joint configurations corresponding to the same end-effector position, which is fundamental in a rehabilitation context.  ... 
doi:10.1109/icvr.2007.4362131 fatcat:swo2snbu4rbmfjcgdaeo3xu75y

A biomimetic, force-field based computational model for motion planning and bimanual coordination in humanoid robots

V. Mohan, P. Morasso, G. Metta, G. Sandini
2009 Autonomous Robots  
This paper addresses the problem of planning the movement of highly redundant humanoid robots based on non-linear attractor dynamics, where the attractor landscape is obtained by combining multiple force  ...  Further, the measure of inconsistency in the relaxation in such cases can be directly used to trigger higher level reasoning in terms of breaking the goal into a sequence of subgoals directed towards searching  ...  Bottom panel: Application of the PMP to a redundant planar robot, starting from a given initial configuration.  ... 
doi:10.1007/s10514-009-9127-x fatcat:zanktgzhtbdpnk5zfl3fr7u3ue

Design and Control of a Highly Redundant Rigid-Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling

Yingbai Hu, Jian Li, Yongquan Chen, Qiwen Wang, Chuliang Chi, Heng Zhang, Qing Gao, Yuanmin Lan, Zheng Li, Zonggao Mu, Zhenglong Sun, Alois Knoll
2021 IEEE Robotics and Automation Letters  
To avoid the clinical staff from being affected by the virus, we developed a 9-degree-of-freedom (DOF) rigid-flexible coupling (RFC) robot to assist the COVID-19 OP-swab sampling.  ...  The robot is expected to reduce risk and free up the clinical staff from the long-term repetitive sampling work.  ...  This work was also partially supported by the Shenzhen Institute of Artificial Intelligence and Robotics for Society.  ... 
doi:10.1109/lra.2021.3062336 pmid:35582266 pmcid:PMC8905611 fatcat:4cq43s7fvzc3dou4xxvdfazpki

Emergence of humanoid walking behaviors from mixed-integer model predictive control

Aurelien Ibanez, Philippe Bidaud, Vincent Padois
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Balance strategies range from continuous postural adjustments to discrete changes in contacts: their simultaneous execution is required to maintain postural stability while considering the engaged walking  ...  The introduction of this model in a predictive control problem brings the definition of a Mixed-Integer Quadratic Program, subject to linear constraints.  ...  ACKNOWLEDGMENT This work was partially supported by the French Ministry of Higher Education and Research, by the RTE company through its chair "Robotics Systems for field intervention in constrained environments  ... 
doi:10.1109/iros.2014.6943127 dblp:conf/iros/IbanezBP14 fatcat:ckq53bgh3rharlmvcxa36n3iui

New Visual Servoing Control Strategies in Tracking Tasks Using a PKM [chapter]

A. Traslosheros, L. Angel, J. M., F. Roberti, R. Carelli, R. Vac
2010 Mechatronic Systems Simulation Modeling and Control  
In order to design the trajectory planner it has to be considered the system constrains, the maximum jerk and maximum acceleration.  ...  If we applied the Grüble criterion to the Robotenis robot, we could note that the robot has 9 DOF (this is due to the spherical joints and the chains configurations) but in fact the robot has 3 translational  ...  Therefore through the robot jacobian is possible to know the velocity that requires moving each joint and the value of � is adjusted to me more constrained joint (maximal velocity of the joint).  ... 
doi:10.5772/9133 fatcat:lz7icctbw5dungghndkrwser24

Human–robot collaboration in industrial environments: A literature review on non-destructive disassembly

Sebastian Hjorth, Dimitrios Chrysostomou
2022 Robotics and Computer-Integrated Manufacturing  
Therefore, there is a need to establish hybrid disassembly robot cells where humans and robots work closely together in a process known as human-robot collaborative disassembly (HRCD).  ...  This review aims to support the robotics community in the future development of HRCD systems, discuss identified literature gaps, and suggest future research directions in this area.  ...  A Fuzzy Model Reference Learning Controller adjusted the Fuzzy Inference Systems response based on the minimum jerk trajectory model.  ... 
doi:10.1016/j.rcim.2021.102208 fatcat:a6tep477ffctnkvqj6glwl73hm

Hand-Arm Coordinated Manipulation Using Active Body-Environment Contact

Taisuke SUGAIWA, Hiroyasu IWATA, Shigeki SUGANO
2009 SICE Journal of Control Measurement and System Integration  
To improve their performance of tasks, we propose a scheme of controlling motion aimed at appropriately coordinated hand and arm motions.  ...  We validate our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot.  ...  The authors wish to express our gratitude to all of these organizations.  ... 
doi:10.9746/jcmsi.2.348 fatcat:pido4pss3zhnbiwhiklmctxgkm
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