Krzysztof Arent

Towards Practical Implementation of an Artificial Force Method for Control of the Mobile Platform Rex

The article describes skid steering mobile platform, which is a nonholonomic robot. For controlling such a robot artificial force method has been used. This method assumes that the number of control inputs is the same as the number of controlled variables. Simultaneously additional control signal is equal to zero equivalently. Considerable attention is paid to possibility of practical application of the described algorithm in the physical equipment.

Motion Planning for the Mobile Platform Rex

This paper deal with the motion planning of a wheeled, skid steering platform, with four independently actuated wheels that slip laterally and longitudinally. Two methods of motion planning are proposed: the Endogenous Configuration Space Approach, and the Optimal Control Method. Their performance is illustrated by numeric computations.

Control of mobile robot for remote medical examination: Design concepts and users' feedback from experimental studies

In this article we discuss movement control of a ReMeDi medical mobile robot from the user perspective. The control is essentially limited to the level of operator actions where the operator is a member of a nursing staff. Two working modes are the base of considerations: long distance (LD) and short distance (SD) movement. In this context two robot control techniques are the subject of study: manual with use of a gamepad and “point and click” on a map that is related to autonomous motion with use of an onboard navigation system. In the SD mode the user manually operates the robot, that is close to a laying down patient on a settee. In the LD mode the mobile base moves autonomously in a space shared with people to the desired position. Two user studies were conducted. The results show that from the perspective of LD mode the autonomous navigation is efficient and reduces the burden of the medical personnel. In the SD case, the results show that the users were able to precisely position the robot. Besides, the users perceived the manual control with the gamepad as intuitive. In all cases the medical personnel consider this technology as safe and useful. Safety is also confirmed by patients.

Identity of a companion, migrating between robots without common communication modalities: Initial results of VHRI study

In this paper we deal with a companion that is capable of migration to variety of embodiments in order to fulfil its tasks (including the social one) and to achieve its goals. It is important that identity of a companion in each utilised embodiment can be recognised by the user despite of technological constraints and own capabilities of a robotic platform. We are interested in the case when one companion use two robots, embodied in different degrees, whereby one robot is poorly embodied and the both robots have no common communication modalities (e.g. a robotic head and a mobile platform). It follows from video-based users studies that if migration is indirect and goes through a third robot, that has common components with the previous two, then the user can properly recognise the identity of this companion with a certain level of confidence, in some context. A number of observations relevant to behaviours as identity cues are presented and discussed.

Identity of socially interactive robotic twins: Initial results of VHRI study

The paper refers to the issue of robot companion being able to migrate between different embodiments. The main attention is focused on the case when two or more companions can share the same embodiment. It is shown that some behavioural characteristics can be significant in the process of recognition of the companions identity. The results are based on a video based experimental study. Animations for this study were prepared using a dedicated software.

Trajectory Tracking Control for Nonholonomic Mobile Manipulators

In the paper we present new control algorithms for a special class of mobile manipulators, namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic system composed of a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system is able to perform manipulation tasks in a much larger workspace than a fixed-base manipulator. Taking into account the type of mobility of their components, there are 4 possible configurations: type (h, h) — with both the platform and the manipulator holonomic, type (h, nh) — a holonomic platform with a nonholonomic manipulator, type (nh, h) — a nonholonomic platform with a holonomic manipulator, and finally type (nh, nh) — both the platform and the manipulator nonholonomic. The notion doubly nonholonomic manipulator was introduced in [13] for the type (nh,nh). The rigid manipulator can be a holonomic or a nonholonomic system depending on its construction.

TOWARDS THE THERAPEUTIC SPHERICAL ROBOT: DESIGN, PROGRAMMING AND CONTROL

Abstract The paper contributes to an emerging field in social robotics, namely application of robots in autism therapy. It has been proposed a dedicated spherical robot, Sharic, which will assist a therapist in treatment of autistic children. The robot — an interactive toy — is open to direct, physical interaction with a child. The behaviour of the robot can be programmed by a therapist appropriately for child needs in a wide range. Fuzzy logic based programming technique in conjunction with suitably designed therapist-robot interface guarantee that use of the robot does not require a robotican assistance.

Deployment of model based robotic control algorithms, designed using Matlab/Simulink, in the form of OROCOS components operating under Linux Xenomai

The article focuses on deployment of model based control algorithms which have passed the stage of simulation analysis in Simulink. The target software platform is OROCOS framework within Linux Xenomai - a real-time operational system. First, the algorithm of transforming of an automatically generated code from Simulink scheme into an OROCOS component is presented. Next, the proposed procedure is discussed and evaluated from the perspective of the control engineers needs.

Remarks on Behaviours Programming of the Interactive Therapeutic Robot Koala Based on Fuzzy Logic Techniques

The paper discuses various aspects of behaviour programming of an interactive social robot Koala using fuzzy logic methodology. The considered robot (a physical, reactive agent) is intended to be applied in treatment of autistic children as a therapists assistant. Analysing a number of selected observations of classical and modern therapeutic processes we end up with conclusions motivating application of fuzzy logic techniques to define interactive robot behaviours. Next, fuzzy logic model of Koala is developed and described. Finally various programming levels in the proposed framework are presented and its advantages are highlighted.

Designing user interfaces for different user groups: A three-way teleconference system for doctors, patients and assistants using a Remote Medical robot

We present the design for a three-way medical teleconference system for communication between a doctor, a patient, and an assistant. The system includes individual doctor-patient and doctor-assistant communication channels, as well as the capability of starting and stopping communication channels separately. The initial system design is based on results of a user requirement analysis. To evaluate the design, we conducted two user studies in which doctors, assistants, and patients used our teleconference system in a simulated examination scenario. The study results show that the general usability of our system was rated as good. However, doctors, patients, and assistants reported that they would like to receive better visualisation of the connection status for the communication channels and the system status of the robot in general. Based on these results, we present an updated design for the teleconference system. We also provide best practices which can help designers of medical teleconference systems.