Mariusz Janiak

Wroclaw University of Science and Technology | WUT · Department of Cybernetics and Robotics

This paper introduces a predictive closed-loop trajectory tracking algorithm for nonlinear control systems that combines the Model Predictive Control (MPC) approach with the task priority Lifted Newton method. The optimal control problem within MPC is replaced by the open-loop trajectory tracking problem formulated as a constrained motion planning...

This paper addresses the trajectory tracking problem which will be regarded as an open-loop planning problem, in contrast to various feedback motion control methods. The trajectory tracking problem is formulated as the constrained motion planning problem, whereas constraints reflect the distance in the task space between the system output and the d...

This paper addresses the trajectory tracking problem which will be regarded as an open-loop planning problem, in contrast to various feedback motion control methods. The trajectory tracking problem is formulated as the constrained motion planning problem, whereas constraints reflect the distance in the task space between the system output and the d...

This article presents a robot for remote noninvasive medical examination. In particular, this robot allows a doctor to carry out an interview, an observation, an auscultation and an ultrasound examination, including echocardiography. The robot has been developed within the ReMeDi (Remote Medical Diagnostician) project funded by the European Union’s...

The article presents the idea o f a robot for remote medical examination. Such a robot is under development within the EU FP7 ReMeDi project. We have outlined selected user's evaluation results of the robot idea together with his/her requirements regarding the robot. Then the basic system components are presented and some of them are discussed (tho...

This paper presets the specification and implementation of the control system of the mobile platform Rex. The presented system structure and the description of its functioning result from the application of a formal method of designing such systems. This formalism is based on the concept of an embodied agent. The behaviours of its subsystems are sp...

This paper presents the architecture of system that has been developed for practical verification of the real-time control algorithms performance intended for servicing mobile platform. The system has been implemented using the hardware-software framework developed within RobREx project. This framework is a composition of a well integrated software...

This paper addresses the problem of motion planning through waypoints for the skid-steering mobile platform Rex. Proposed method is easily applicable to other robotics systems whose dynamic are represented by a control affine system with outputs. It is assumed that the waypoints are provided in the form of a sequence of points and velocities in the...

This paper presents an application of the Lifted Newton method in the motion planning of robotics systems represented by a nonlinear control system with output. This representation covers a wide range of systems, from simple nonholonomic systems modeled on kinematics level to complex systems with dynamics. Following the Endogenous Configuration Spa...

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 Con�guration Space Approach, and the Optimal Control Method. Their performance is illustrated by numeric computations.

This study investigated whether dogs would engage in social interactions with an unfamiliar robot, utilize the communicative signals it provides and to examine whether the level of sociality shown by the robot affects the dogs' performance. We hypothesized that dogs would react to the communicative signals of a robot more successfully if the robot...

This paper addresses the approximation problem of Jacobian inverse kinematics algorithms for redundant robotic manipulators. Specifically, we focus on the approximation of the Jacobian pseudo inverse by the extended Jacobian algorithm. The algorithms are defined as certain dynamic systems driven by the task space error, and identified with vector f...

W pracy przedstawiono budowę robota społecznego FLASH skonstruowanego w ramach europejskiego projektu LIREC, którego celem było opracowanie i weryfikacja technologii robotycznych towarzyszy życia. W wyniku prac powstał robot, który poza wykonywaniem czynności typowo usługowych, potrafi wchodzić w interakcje z człowiekiem, wyrażać emocje oraz działa...

We study the motion planning problem for the multi-bar system composed of a series of rigid bars connected by spherical joints, moving in R3 and subject to non-holonomic constraints. The control system representation of the system takes the form of a driftless control system with 3 inputs. In order to avoid representation singularities, the constra...

This paper presents a new nondeterministic motion planning algorithm for nonholonomic systems. Such systems are represented by driftless control system with outputs. Presented approach combines two different methods: the endogenous configuration space approach and the Particle Filters. The former, fully deterministic, originally has been dedicated...

This paper addresses the constrained motion planning problem for nonholonomic systems represented by driftless control systems with output. The problem consists in defining a control function driving the system output to a desirable point at a given time instant, whereas state and control variables remain over the control horizon within prescribed...

This paper addresses the constrained motion planning problem for passive joint manipulators with friction. Constraints are imposed on a system state space vector. The dynamics of underactuated manipulators are described by a control–affine system with a drift term. In order to solve the constrained motion planning problem the imbalanced Jacobian al...

We address the motion planning problem in non-holonomic robotic systems with constraints imposed on configuration and control variables. The imbalanced Jacobian motion planning algorithm is compared with the optimal control approach. Computer simulations of the unicycle-type mobile robot underlie the comparison.

We address the motion planning problem of the trident snake robot. The problem is solved with the help of the imbalanced Jacobian inverse kinematics algorithm dedicated to nonholonomic systems with constraints. Performance of the algorithm is illustrated with computer simulations.

This paper addresses a constrained motion planning problem for mobile manipulators. The constraints are included into the system model by means of a sort of penalty function, and then processed in accordance with the endogenous configuration space approach. Main novelty of this paper lies in deriving a constrained Jacobian motion planning algorithm...

Approximation of Jacobian inverse kinematics algorithms This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation...

For the redundant robot kinematics we construct an extended Jacobian inverse that approximates the Jacobian pseudo-inverse. Our construction relies on the approximation of a codistribution associated with the Jacobian pseudo-inverse by an integrable codistribution, spanned by differentials of certain functions that serve as components of the augmen...

The paper addresses the synthesis problem of repeatable Jacobian inverse kinematics algorithms for robotic manipulators. For the kinematics of redundancy 1 this synthesis is accomplished by defining an extended Jacobian inverse that in certain sense approximates the Jacobian pseudo-inverse. The approximation problem is formulated in differential ge...