Saleh Ahmad

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In this paper, we study the problem of door-opening by using modular reconfigurable robot (MRR). Based on multiple working mode control of the joint modules of the MRR, we first propose an online mode-switch strategy for all joint modules so that each joint module can be easily determined when it should be switched between active working mode and passive(More)
In this paper, we study the problem of door-opening by using a modular re-configurable robot (MRR) mounted on a tracked mobile platform. The main concern of opening a door is how to prevent the internal forces that occur because of the positioning error or the imprecise modeling of the environment, i.e., the door parameters. Most previous research is based(More)
Joint torque sensory feedback is an effective technique for achieving high-performance robot force and motion control. However, most robots are not equipped with joint torque sensors, and it is difficult to add them without changing the joint's mechanical structure. A method for estimating joint torque that exploits the existing structural elasticity of(More)
A joint torque estimation technique utilizing the existing structural elasticity of robotic joints with harmonic drive transmission is proposed in this paper. Joint torque sensing is one of the key techniques for achieving high-performance robot control, especially for robots working in unstructured environments. The proposed joint torque estimation(More)
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. ABSTRACT In many geophysical inverse problems, smoothness assumptions on the(More)
In this paper, a Model-based approach to fault detection is proposed that is not reliant on measurement or estimation of joint acceleration. The proposed fault detection algorithm is intended for Modular and Reconfigurable Robots (MRR) with joint torque sensing. It functions by comparing the filtered joint torque command with a filtered torque estimate(More)
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