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Almas Shintemirov - IEEE Xplore Author Profile

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The word teleoperation (which, in general, means “working at a distance”) is typically used in robotics when a human operator commands a remote agent. A teleoperated robot is often employed to substitute human beings in conditions where the latter cannot operate. A possible reason is the need to be in contact with dangerous substances, and indeed, the first robot teleoperation system was designed ...Show More
This article proposes motion planning algorithms for industrial manipulators in the presence of human operators based on deep neural networks (DNNs), aimed at imitating the behavior of a nonlinear model predictive control (NMPC) scheme. The proposed DNN solutions retain the safety features of NMPC in terms of speed and separation monitoring, defined according to the guidelines in the ISO/TS 15066 ...Show More
This paper presents a new open-source 3-fingered robotic gripper with a reconfigurable modular structure for extending the choice of reconfigurable robotic gripper designs freely available to robotics research community. Combination of unique design solutions, such as independent and modular (detachable) finger modules, which provide finger position and orientation reconfigurability and adaptivity...Show More
This paper presents a model predictive path following control (MPPFC) framework for driving skid-steered mobile robots (SSMRs) in the presence of obstacles. A spatial kinematic model is used to develop a model along a predefined path while avoiding any incidental stationary obstacles. Extensive computation experiments executed on a physical robot simulator environment demonstrate that the proposed...Show More
This paper presents a new open-source mechanical design of a 6-DOF anthropomorphic ALARIS robotic hand that can serve as a low-cost design platform for further customization and utilization for research and educational purposes. The presented hand design employs linkage-based three-phalange finger and two-phalange adaptive thumb designs with non-backdrivable worm-and-rack transmission mechanisms. ...Show More
This letter proposes a nonlinear model predictive control (NMPC) approach for real-time planning of point-to-point motions of serial robot manipulators that share their workspace with a human. The NMPC law solves a nonlinear program online, based on a kinematic model, and guarantees safety by constraining the robot speed within the time-varying bounds determined by the speed-and-separation-monitor...Show More
This paper presents a new methodology for modeling and simulation of spherical parallel manipulators (SPM) in CoppeliaSim (V-REP) robot simulator software. Using a SPM with coaxial input shafts as the case study, the steps for the robot SolidWorks CAD model importing, modeling in CoppeliaSim and interfacing with MATLAB for external control of the robot model are described in detail. The SPM motion...Show More
With the widespread of research in the field of autonomous vehicles the value and impact of various simulators increase dramatically as they allow for quick and safe experimentation with the design of a vehicle, environment and driving scenarios. In this paper, the authors demonstrate how autonomous vehicle research and development can be facilitated by open-source robot simulators based on the ex...Show More
Increased interest in demand response programs to reduce energy consumption requires more advanced systems for demand-side management. To address this problem, this paper presents the basic model of the transactive energy system with the increased roles of peers in the process of demand reduction and auction processing. The notion of the proposed system is based on the ability of the customers to ...Show More
One of the distinct features of 3-RRR spherical parallel manipulators with coaxial input axes (coaxial SPM) is the ability to perform infinite torsional motion of the manipulator mobile platform around its normal vectors. This paper presents a novel approach for infinite torsional motion generation of the coaxial SPM based on the author's revised approach for obtaining unique solutions to SPM kine...Show More
Assistive robot solutions are mostly designed as robot helpers with robotic arms and aim to assist disabled and elderly people with carrying out basic activities of daily life such as reaching household objects, i.e. cups, feeding with spoon, opening a drawer/fridge doors, etc., However, commercial assistive robotic arms with joystick control require extensive and tiring hand motor skill training ...Show More
This paper presents an extended approach for computing unique solutions to forward and inverse kinematics of a three degrees-of-freedom spherical parallel manipulator (SPM) with coaxial input shafts and all revolute joints that has an unlimited rolling motion property. The approach is formulated in the form of easy-to-follow algorithms. Numerical and simulation case studies are conducted on a nove...Show More
This letter proposes a model predictive control approach for semi-autonomous teleoperation of robot manipulators: the focus is on avoiding obstacles with the whole robot frame, while exploiting predictions of the operator's motion. The hand pose of the human operator provides the reference for the end effector, and the robot motion is continuously replanned in real time, satisfying several constra...Show More
This paper introduces the development of a one-degree-of-freedom (1DOF) power assist device that helps to lift objects and facilitate the operator's job. The existing designs were examined for different control approaches and human-robot cooperation intuitiveness. The project involves the mechanical design of the experimental setup and development of advantageous control system. Since a task for t...Show More
Electromyography (EMG) signal analysis is one of the key determinants of the effectiveness of prosthetic devices. Modern researchers provide various methods of detection of different hand movements and postures. In this work, we examined the possibility to produce efficient detection of hand movement to a specific posture with the minimum possible number of electrodes. The data acquisition is prod...Show More
This paper introduces a new framework for the closed-loop orientation control of spherical parallel manipulators (SPMs) based on the online solution of a convex optimization problem. The aim of solving a constrained optimization problem is to define a reference position for the SPM that remains as close as possible to the ideal reference (i.e., the one for which the top mobile platform has the des...Show More
With the development of Brain-Computer Interface (BCI) systems people with motor disabilities are able to control external devices using their thoughts. To control a device through BCI, brain activities of the user must be accurately translated to meaningful commands and a design of appropiate BCI paradigms play important roles in such tasks. This work presents a design and evaluation of a BCI sys...Show More
This paper presents a new approach to the solar tracking control. Today several methods are used to minimize the angle of incidence between the incoming sunlight and the photovoltaic (PV) panel. Most of them require optical solar sensor(s) to maximize energy output. There are approaches where geolocation data and the timetable of the Sun's position support a solar tracking mechanism. This paper pr...Show More
A human arm can be described as a five degrees-of-freedom (DOF) serial manipulator. The fifth degree - rotation around the forearm axis only contributes to the wrist orientation. Hence, if it is ignored the elbow and wrist joint positions can be tracked using an upper arm orientation and the elbow joint angle. The paper presents a novel low-cost design of a 4-DOF human arm wearable tracker system ...Show More
The use of robotics in rehabilitation area provides a quantifying outcomes on treatment of after stroke patients. This paper presents the preliminary design of a novel exoskeleton robot, called NU-Wrist, for human wrist and forearm rehabilitation. The proposed robot design provides rotation within the anatomical range of human wrist and forearm motions. A novel compliant robot handle link ensures ...Show More
This paper presents a framework for generating optimal motor trajectories for a spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors with default internal position control settings. The proposed framework consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order to relate the angular positions of the servomotors to the or...Show More
This paper presents the authors' ongoing work on designing a novel 3-axis solar tracker platform utilizing a 3-DOF spherical parallel manipulator with revolute joints and a solar sensor. The selected solar sensor and the SPM configuration are described in details. A novel approach is proposed for the SPM platform orientation estimation based on solar sensor measurements employing trigonometric ide...Show More
This paper presents the design of a linkage based finger mechanism ensuring extended range of anthropomorphic gripping motions. The finger design is done using a path-point generation method based on geometrical dimensions and motion of a typical index human finger. Following the design description, and its kinematics analysis, the experimental evaluation of the finger gripping performance is pres...Show More
This paper describes the modeling and control of heat and electricity flows in a smart house equipped with a solar heating system, PV panels, and lead-acid batteries for energy storage. The goal is to minimize electricity costs, making best use of renewable sources of heat and electricity. The system model is obtained via system identification from experimental data as a discrete-time hybrid syste...Show More
Robotics research and education have gained significant attention in recent years due to increased development and commercial deployment of industrial and service robots. A majority of researchers working on robot grasping and object manipulation tend to utilize commercially available robot-manipulators equipped with various end effectors for experimental studies. However, commercially available r...Show More