Outputs (437)

An improved adaptive online neural control for robot manipulator systems using integral Barrier Lyapunov functions (2019)
Journal Article

Conventional Neural Network (NN) control for robots uses radial basis function (RBF) and for n-link robot with online control, the number of nodes and weighting matrix increases exponentially, which requires a number of calculations to be performed w... Read More about An improved adaptive online neural control for robot manipulator systems using integral Barrier Lyapunov functions.

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.

Ethical standards in Robotics and AI (2019)
Journal Article

A new generation of ethical standards in robotics and artificial intelligence is emerging as a direct response to a growing awareness of the ethical, legal and societal impact of the fields. But what exactly are these ethical standards and how do the... Read More about Ethical standards in Robotics and AI.

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.

On proactive, transparent and verifiable ethical reasoning for robots (2019)
Journal Article

Previous work on ethical machine reasoning has largely been theoretical, and where such systems have been implemented it has in general been only initial proofs of principle. Here we address the question of desirable attributes for such systems to im... Read More about On proactive, transparent and verifiable ethical reasoning for robots.

Enhanced teleoperation performance using hybrid control and virtual fixture (2019)
Journal Article

To develop secure, natural and effective teleoperation, the perception of the slave plays a key role for the interaction of a human operator with the environment. By sensing slave information, the human operator can choose the correct operation in a... Read More about Enhanced teleoperation performance using hybrid control and virtual fixture.

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 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.

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.

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.

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.

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.

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.

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.

Self sufficient wireless transmitter powered by foot-pumped urine operating wearable MFC (2015)
Journal Article

© 2015 IOP Publishing Ltd. The first self-sufficient system, powered by a wearable energy generator based on microbial fuel cell (MFC) technology is introduced. MFCs made from compliant material were developed in the frame of a pair of socks, which w... Read More about Self sufficient wireless transmitter powered by foot-pumped urine operating wearable MFC.

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.

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.

Knowledge and attitudes of small builders toward sustainable homes in the UK (2015)
Journal Article

© 2015, College Publishing. All rights reserved. Residential homes account for the largest share of carbon emissions in the UK. Making new homes and existing ones more sustainable is essential to achieving the legally binding target of 80% reduction... Read More about Knowledge and attitudes of small builders toward sustainable homes in the UK.

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.