Outputs (658)

Toward controllable morphogenesis in large robot swarms (2019)
Journal Article

Morphogenetic engineering aims to achieve functional, self-organized but controllable structures in human-designed systems. Controlling the structures is crucial if they are to be used for real-world applications. Building on previous work on morphog... Read More about Toward controllable morphogenesis in large robot swarms.

Temporal patterns in multi-modal social interaction between elderly users and service robot (2019)
Journal Article

Social interaction, especially for older people living alone is a challenge currently facing human-robot interaction (HRI). There has been little research on user preference towards HRI interfaces. In this paper, we took both objective observations a... Read More about Temporal patterns in multi-modal social interaction between elderly users and service robot.

Force Sensorless Admittance Control for Teleoperation of Uncertain Robot Manipulator Using Neural Networks (2019)
Journal Article

In this paper, a force sensorless control scheme based on neural networks (NNs) is developed for interaction between robot manipulators and human arms in physical collision. In this scheme, the trajectory is generated by using geometry vector method... Read More about Force Sensorless Admittance Control for Teleoperation of Uncertain Robot Manipulator Using Neural Networks.

Enhancing the rate-hardness of haptic interaction: Successive force augmentation approach (2019)
Journal Article

© 1982-2012 IEEE. There have been numerous approaches that have been proposed to enlarge the impedance range of haptic interaction while maintaining stability. However, enhancing the rate-hardness of haptic interaction while maintaining stability is... Read More about Enhancing the rate-hardness of haptic interaction: Successive force augmentation approach.

New noise-tolerant neural algorithms for future dynamic nonlinear optimization with estimation on hessian matrix inversion (2019)
Journal Article

Nonlinear optimization problems with dynamical parameters are widely arising in many practical scientific and engineering applications, and various computational models are presented for solving them under the hypothesis of short-time invariance. To... Read More about New noise-tolerant neural algorithms for future dynamic nonlinear optimization with estimation on hessian matrix inversion.

Enhancing the force transparency of time domain passivity approach: Observer-based gradient controller (2019)
Presentation / Conference Contribution

Passivity has been the most often used constraint for the stable controller design of bilateral teleoperation systems. Especially, Time Domain Passivity Approach (TDPA) has been used in many applications since it has been known as one of the least co... Read More about Enhancing the force transparency of time domain passivity approach: Observer-based gradient controller.

Composite learning adaptive backstepping control using neural networks with compact supports (2019)
Journal Article

© 2019 John Wiley & Sons, Ltd. The ability to learn is crucial for neural network (NN) control as it is able to enhance the overall stability and robustness of control systems. In this study, a composite learning control strategy is proposed for a... Read More about Composite learning adaptive backstepping control using neural networks with compact supports.

Adaptive neural network control of underactuated surface vessels with guaranteed transient performance: Theory and experimental results (2019)
Journal Article

In this paper, an adaptive trajectory tracking
control algorithm for underactuated unmanned surface
vessels (USVs) with guaranteed transient performance is
proposed. To meet the realistic dynamical model of USVs,
we consider that the mass and dam... Read More about Adaptive neural network control of underactuated surface vessels with guaranteed transient performance: Theory and experimental results.

Force Sensorless Admittance Control with Neural Learning for Robots with Actuator Saturation (2019)
Journal Article

© 1982-2012 IEEE. In this paper, we present a sensorless admittance control scheme for robotic manipulators to interact with unknown environments in the presence of actuator saturation. The external environment is defined as linear models with unknow... Read More about Force Sensorless Admittance Control with Neural Learning for Robots with Actuator Saturation.

Characterisation of a nuclear cave environment utilising an autonomous swarm of heterogeneous robots (2019)
Thesis

As nuclear facilities come to the end of their operational lifetime, safe decommissioning becomes a more prevalent issue. In many such facilities there exist ‘nuclear caves’. These caves constitute areas that may have been entered infrequently, or ev... Read More about Characterisation of a nuclear cave environment utilising an autonomous swarm of heterogeneous robots.

On the simulation (and energy costs) of human intelligence, the singularity and simulationism (2019)
Book Chapter

For many the Holy Grail of robotics and AI is the creation of artificial persons: artefacts with equivalent general competencies as humans. Such artefacts would literally be simulations of humans. With the theme of simulation this essay reflects on b... Read More about On the simulation (and energy costs) of human intelligence, the singularity and simulationism.

Designing bio-inspired robotics workshops given language limitations (2019)
Presentation / Conference Contribution

Educational robots are increasingly being used in schools
as learning tools to support the development of skills such as computational thinking because of the growing number of technology-related jobs. Using robots as a tool inside the classroom has... Read More about Designing bio-inspired robotics workshops given language limitations.

Asymmetric bounded neural control for an uncertain robot by state feedback and output feedback (2019)
Journal Article

In this paper, an adaptive neural bounded control scheme is proposed for an n-link rigid robotic manipulator with unknown dynamics. With the combination of the neural approximation and backstepping technique, an adaptive neural network control policy... Read More about Asymmetric bounded neural control for an uncertain robot by state feedback and output feedback.

A task learning mechanism for the telerobots (2019)
Journal Article

Telerobotic systems have attracted growing attention because of their superiority in the dangerous or unknown interaction tasks. It is very challengeable to exploit such systems to implement complex tasks in an autonomous way. In this paper, we propo... Read More about A task learning mechanism for the telerobots.

Efficient 3D object recognition via geometric information preservation (2019)
Journal Article

© 2019 Elsevier Ltd Accurate 3D object recognition and 6-DOF pose estimation have been pervasively applied to a variety of applications, such as unmanned warehouse, cooperative robots, and manufacturing industry. How to extract a robust and represent... Read More about Efficient 3D object recognition via geometric information preservation.

Effective persuasion strategies for socially assistive robots (2019)
Presentation / Conference Contribution

In this paper we present the results of an experimental study investigating the application of human persuasive strategies to a social robot. We demonstrate that robot displays of goodwill and similarity to the participant significantly increased rob... Read More about Effective persuasion strategies for socially assistive robots.

Machine ethics: The design and governance of ethical AI and autonomous systems (2019)
Journal Article

© 1963-2012 IEEE. The so-called fourth industrial revolution and its economic and societal implications are no longer solely an academic concern, but a matter for political as well as public debate. Characterized as the convergence of robotics, AI, a... Read More about Machine ethics: The design and governance of ethical AI and autonomous systems.

Adaptive fuzzy control for coordinated multiple robots with constraint using impedance learning (2019)
Journal Article

In this paper, we investigate fuzzy neural network (FNN) control using impedance learning for coordinated multiple constrained robots carrying a common object in the presence of the unknown robotic dynamics and the unknown environment with which the... Read More about Adaptive fuzzy control for coordinated multiple robots with constraint using impedance learning.

Admittance-based adaptive cooperative control for multiple manipulators with output constraints (2019)
Journal Article

This paper proposes a novel adaptive control methodology based on the admittance model for multiple manipulators transporting a rigid object cooperatively along a predefined desired trajectory. First, an admittance model is creatively applied to gene... Read More about Admittance-based adaptive cooperative control for multiple manipulators with output constraints.

Adaptive fuzzy Gaussian mixture models for shape approximation in Robot Grasping (2019)
Journal Article

Robotic grasping has always been a challenging task for both service and industrial robots. The ability of grasp planning for novel objects is necessary for a robot to autonomously perform grasps under unknown environments.
In this work, we consider... Read More about Adaptive fuzzy Gaussian mixture models for shape approximation in Robot Grasping.