Mariusz Janiak

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for demonstration Abstract — This demo paper aims to demonstrate how dogs' behavior could help to design social behavior for robots. This demo paper aims to demonstrate how dogs' behavior could help to design social behavior for robots. Adopting a so-called “hearing robot” scenario we show that the dog-inspired leading behavior implemented in robots can be(More)
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 showed(More)
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 problem are developed: one relies on variational calculus, the(More)
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 tools(More)
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 Space(More)
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(More)
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.
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 with the(More)