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Stability of nonlinear teleoperators using PD controllers without velocity measurements
(2014-01)
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Article.
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This paper presents two Proportional-Derivative (PD) like controllers for nonlinear bilateral teleoperation systems. Compared to previous controllers of this kind, these schemes do not make use of velocity measurements. ...
Task space consensus in networks of heterogeneous and uncertain robotic systems with variable time-delays
(2017-06-01)
Article.
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Article.
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This work deals with the leader-follower and the leaderless consensus problems in networks of multiple robot manipulators. The robots are non-identical, kinematically different (heterogeneous), and their physical parameters ...
A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis
(2018-03-01)
Article.
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Article.
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© 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form ...
Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays
(2012)
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The present work reports a sufficient condition for the consensus of a network of nonidentical Euler-Lagrange (EL) systems with variable time-delays in the communications. The EL-systems are controlled by simple Proportional ...
Exploiting the robot kinematic redundancy for emotion conveyance to humans as a lower priority task
(2017-01-17)
Article.
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Article.
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Current approaches do not allow robots to execute a task and simultaneously convey emotions to users using their body motions. This paper explores the capabilities of the Jacobian null space of a humanoid robot to convey ...
A Passivity-based controller without velocity measurements for the leaderless consensus of Euler-Lagrange systems
(2017-07-01)
Article.
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Article.
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This paper deals with the problem of achieving consensus of multiple interconnected Euler-Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity-based control. It proposes a novel ...
Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration
(Comité Español de Automática (CEA-IFAC), 2017)
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In work environments, the use of dexterous mobile manipulators as co-workers poses several challenges with respect to the human-robot collaboration. On the one hand, its focus is in the autonomy (i.e. the mobile manipulators ...
Modeling non-linear viscoelastic behavior under large deformations
(2013-12)
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This paper addresses the accurate modeling of the behavior of a thin layer of natural rubber subjected to large deformations. Such a system presents a non-linear viscoelastic behavior similar to many biological soft tissues. ...
Leader-follower and leaderless consensus in networks of flexible-joint manipulators
(2013)
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Consensus of networks of nonidentical robots with flexible joints, variable time--delays and unmeasurable velocities
(2013)
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The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers ...