This paper deals with the emotional model of the software-robot. The software-robot requires several capabilities such as sensing, perceiving, acting, communicating, surviving and so on. There are already many studies about the emotional model like KISMET, AIBO. Though many emotional models are implemented, their human response architectures are invariant as time passes. Conventional emotional models make a robot like and obey a human during robot operation. This is natural for robots which are used in industrial, service and military areas but for pet robots this property lets robot look like real robots not real pets. Actually, a robot's emotional model is studied to implement robot intelligence more easily but emotion expression has to be exaggerated in a pet robot to make it interesting to humans. Pet robots must show dynamical emotion variations. The emotional model with the modified friendship is studied in this paper to overcome the conventional emotional model's limits to apply to pet robots. Friendship is distinguished as positive, negative and static schemes and an emotional model with the modified friendship is implemented and simulated on a software-robot.

In the design of a controller for mobile robot, there are only few results on the problem of integrating the nonholonomic kinematic controller and the dynamic controller for mobile robots. Also there are only few literatures on the robustness of the controller in the presence of uncertainties or external disturbances in the dynamical model of mobile robot. In this paper, a robust adaptive controller which can achieve velocity tracking while considering not only kinematic model but also dynamic model of mobile robot is proposed. The proposed controller can overcome model uncertainty or external disturbances by the robust adaptive technique. The stability of the dynamic system is shown through the Lyapunov method.

This paper presents a robust adaptive control scheme of an underactuated manipulator. The proposed control schemes are a joint position-to-position (PTP) control scheme and a Cartesian end-point control scheme tracking a continuous path in Cartesian space. The proposed joint and Cartesian controllers are verified by experimental results for an actual three-link SCARA robot manipulator with a passive joint. In this robot experiment, the third joint of this robot is passive.

This paper presents a fault detection strategy and a robust fault recovery control scheme for robot manipulators to overcome the actuator failures. The joint (or actuator) failure considered is the free-swinging joint failure that causes the loss of torque on a joint. The proposed fault-tolerant control framework includes a normal control with normal (non-failed) operation, a fault detection and a fault recovery control to achieve task completion. After the detection and identification of joint failures, the robot manipulator becomes an underactuated manipulator with failed actuators. Then the underactuated manipulator can be controlled by the presented robust controller. To show the feasibility of the proposed fault-tolerant control scheme, simulation results for a three-link planar robot arm with a failed joint are presented.

In this paper, a robust fault-tolerant control scheme including fault detection, identification and accommodation for robot manipulators is presented to overcome the actuator failures. The joint fault considered in this paper is the free-swinging joint failure that causes the loss of torque on a joint. The presented fault-tolerant Cartesian control framework includes a normal control with normal (nonfailed) operation, a fault detection and a fault recovery control to achieve task completion and fault accommodation. After the detection and identification of joint failures, the robot manipulator with failed actuators can be considered as the underactuated robot manipulator. To show the feasibility of the proposed fault-tolerant control scheme, simulation results for a three-link planar robot arm are presented.

A feedback linearizing decoupling dynamic control scheme of nonholonomic underactuated manipulators with free-swinging passive joints is proposed in Cartesian space where the task is planned. The presented control scheme does not require any braking process of passive joints. The presented dynamic control scheme has so-called "dynamic singularities" in the controller. Therefore, the singularities must be avoided an the path planning so as to guarantee the availability of the control scheme. Singularity-free desired paths in Cartesian space avoiding the dynamic singularities are obtained through a computer simulation. Simulation results for a three-link planar manipulator with one passive joint are presented to show the feasibility of the proposed control scheme with the singularity-free desired trajectory.

A study on the control of robot manipulators with free-swinging passive joints overcoming actuator failures is performed. In the case that the passive joints have neither actuators nor brakes, a robust adaptive control scheme overcoming the uncertainties is proposed in Cartesian space where tasks are planned, for underactuated manipulators. The proposed control scheme does not need a priori knowledge of the accurate dynamic parameters and the exact uncertainty bounds. The availability of the proposed control scheme is guaranteed by the assumption that the joint configuration remains in the inside of nonsingular regions during the total control process. To overcome this dynamic singularity problem for a nominal decoupling matrix in the controller, a singularity-free desired Cartesian path-planning in the outside of singular regions is achieved via a computer simulation. To illustrate the feasibility and validity of the proposed control scheme, simulation results for a three-link planar robot manipulator with one passive joint are presented.

This paper describes a dynamical local path-planning algorithm of an autonomous mobile robot available for stationary obstacle avoidance using nonlinear friction. Dynamical path-planning algorithm is considered to accommodate the mobile robot to the dynamic situation of the path-planning nature. Together with the previous virtual force field method, the path of the mobile robot is a solution of a path-planning equation. Local minima problems in stationary environments are solved by introducing nonlinear friction into the chaotic neuron. Because of the nonlinear friction, the proposed path-planner reveals chaotic dynamics in some parameter regions. This new path-planner is feasible to guide, in real-time, the mobile robot to avoid stationary obstacles and to reach the goal. Computer simulations are presented to show the effectiveness of the proposed algorithm.

This paper proposes an adaptive robust control scheme for free-flying space robots. In order to simply and effectively control free-flying space robots subject to parameter uncertainty and disturbances to avoid the measurement of the base (space vehicle) acceleration, and to eliminate the assumption that the uncertainty bounds must be a priori known in the conventional robust control approach, we develop a continuous adaptive robust control scheme using the norm-bounded property of uncertainty based on the Lyapunov direct method. Simulation results are presented to show the feasibility and robustness of the proposed control scheme.