On Daphnia (Ctenodaphnia) similis Claus, 1876 and other interesting anomopods (Crustacea Branchiopoda) from Apulia (southern Italy)

2007

The presence of Daphnia species in Apulia (southern Italy) freshwaters is updated

Hybrid Control on a Domestic service Robot Designed for Cleaning Task

2005

Kinematics and Control of a Housekeeping Robot Assistant

2005

In this paper, the compliant controller of a new service mobile robot designed for cleaning tasks and its kinematic modelling is addressed. Robot systems usage in home environment has been exponential increased in the last years thus placing a central importance on making interaction between people and machine as natural as possible. The main focus of this paper is twofold. First, the forward kinematics of the robot will be presented in order to introduce the closed form solution of the inverse kinematics problem. Second, the closed form solution will be used in the the design of a new kind of hybrid force/position control algorithm. The most important improvements of this control law are t…