By I. Kulyukin

ISBN-10: 953307020X

ISBN-13: 9789533070209

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Extra info for Advances in Human-Robot Interaction

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Attack the object c. Go to 1 Otherwise, a. Decode the message using the secret key b. a c. Otherwise, register the identifier and timestamp besides position and distance for detected object d. Listen again to IR receptor within a certain period e. Decode the message using the secret key f. a g. Otherwise, match the identifier and timestamp against the one kept before h. a i. a j. Go to 3 It is assumed that the received message is free of noise and corrupted messages are automatically discarded.

Acceleration is zero while traversing a path on a fixed speed. Moreover, acceleration can be subtracted from output of accelerometer in situations that robot traverses a path on variable speed. Fig. 2 (C) presents the triple cascade control loop. 3 Practical results In order to test the result, we developed a scenario for movement of the robot without/with triple cascade control feedback mechanism. The robot must traverse a rectangle of edge size equal to one meter and return to the home position.

The proposed texture sensor provides good results of 3D contact force measurements while maintaining a relatively small size. According to the beam theory, there are transverse coupling effects between the forces in x-, y- and z-directions. These coupling effects mean that the measured values of fx, fy and fz are affected each other by the Poisson’s ration of aluminium. Ideally, there is no coupling between the normal force and the tangential forces. However, the experiments showed that such coupling effect exists and becomes stronger with the increase of the applied tangential forces.

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Advances in Human-Robot Interaction by I. Kulyukin


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