By I. Kulyukin
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Extra resources for Advances in Human-Robot Interaction
Now teammates can decide to help the challenging friend if the distance is acceptable or if friend is in the range of their radar, or leave the friend to die. 4 Experimental results The developed system is tested on team of three robots. The team of enemies consists of three cooperative robots with basic abilities which include IR transceiver for FOF identification. The test is done for ten rounds. Last remaining robot(s) win the game. There were five different situations to test robots. Therefore, fifty different rounds of competition were conducted.
In this case, however, the radial bearing rigidity provided by the disk springs is not sufficiently strong. The contact probe rotates in a small scale under the combination of bearing forces and tangential forces. Because the assembly of the sensor is tight in the axial direction, the rotations generate small displacement with respect to the force sensor, and therefore, additional axial contact force is introduced. A correction for decoupling is required to obtain the precise values of applied contact forces.
Fig. 4 (B) presents the corrected error after applying above mentioned loops to correct the deviation error. Fig. 4. Robot with only shaft encoder feedback control loop (A), and results while triple loop cascade control is applied (B). 22 Advances in Human-Robot Interaction In next section more sophisticated robots are presented while they are not only to correct the deviated errors but also they are able to identify friends from enemies in cooperative environment and help each other towards achieving the common goal.