Intelligent Robotics Systems: Inspiring the NEXT: 16th FIRA by Mohd Fauzi Othman, Masoud Samadi (auth.), Khairuddin Omar,

By Mohd Fauzi Othman, Masoud Samadi (auth.), Khairuddin Omar, Md Jan Nordin, Prahlad Vadakkepat, Anton Satria Prabuwono, Siti Norul Huda Sheikh Abdullah, Jacky Baltes, Shamsudin Mohd Amin, Wan Zuha Wan Hassan, Mohammad Faidzul Nasrudin (eds.)

This publication constitutes the refereed court cases of the sixteenth FIRA Robo international Congress, FIRA 2013, held in Kuala Lumpur, Malaysia, in August 2013. The congress consisted of the next 3 meetings: fifth foreign convention on complicated Humanoid Robotics examine (ICAHRR), fifth foreign convention on schooling and leisure Robotics (ICEER), and 4th overseas Robotics schooling discussion board (IREF). The 38 revised complete papers provided have been rigorously reviewed and chosen from 112 submissions. They hide a number of subject matters regarding the technical advancements and achievements within the box of robotics.

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By having the torque measurement filtered, acceleration measurements for the regressor φi (qi , q˙i , q¨i ) can be avoided [11,13]. Indeed, the regressor φi (qi , q˙i , q¨i ) in (4) uses joint accelerations which generally is not practical. Hence, the equation (2) can be written as, τi = f˙i + hi (19) The components of torque can be split and defined as, d f˙i = [Mi (qi )q˙i ] dt hi = −M˙ i (qi )q˙i + Vi (qi , q˙i )q˙i + Gi (qi ) = h1i + h2i (20) (21) (22) where h1i = −M˙ i (qi )q˙i and h2i = Vi (qi , q˙i )q˙i + Gi (qi ).

E. ith row sum of A). Define the graph Laplacian matrix as L = D − A, which has all row sums equal to zero. Define d0i = j aji , the weighted out-degree of node i, that is the ith column sum of the connectivity matrix, A. Figure 2 shows the topology of the interconnected nodes represented by the digraph. There is a directed path from vi to vj for all distinct nodes vi , vj ∈ V. The connectivity matrix A and L are irreducible [3,17]. The manipulator-leader communication is again directed from leader to manipulator only, which is identified through the pinning gain bi ≥ 0.

In 1921, the novelist Karel Cˇapek K. Omar et al. ): FIRA 2013, CCIS 376, pp. 49–63, 2013. R. Cerritos-Jasso et al. introduced the term “robot ” in his famous science fiction work Rossums Universal Robots, making a path for a new line of investigation in the forthcoming years [1]. Nowadays, humanoid robots have huge application fields such as: medical assistance, rehabilitation therapy, rescue, housework, entertainment, among others, including soccer–player robots [2]–[10]. There are tournaments around the world that have given an upswing to humanoid robots, one of them is the Robocup, which original aim was to defeat a man by a robot in a chess game, later they change their objective to another more ambitious, which is: in year 2050 a team of autonomous humanoid robot will be able to defeat a team of humans in a soccer cup [11];this kind of goals has led to several investigations in different sciences and technological fields, such as artificial intelligence, which its complexity requires a very specific amount of tasks [12], [13].

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