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By I. Kulyukin

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Instead, the only way to remedy is to attack from wheel sides of enemy robot. Consequently finding relative movement angle of the enemy robot helps friend robots to decide whether to attack or not. Following are three main concerns. 1 Determining the level of power of enemy robots Utilizing gyroscope and matching it with usual speed of the robot in steady state helps measuring movement toward x,y,z axes. See fig. 7. y z x Fig. 7. The direction of axes over the robot while y showing the front of the robot.

Fig. 3. Trajectory design of self-corrective cascade control robot As shown in Fig. 4 (A), robot without second and third loop in cascade control mechanism deviates a lot from desired positions in robot trajectory. 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.

A wider signal bandwidth is expected and a higher sampling rate of A/D conversion is required. The micro-controller is able to perform A/D conversions up to 25 KHz for each of the four signal channels. However, a 3 KHz sampling rate limitation is introduced by the relatively low bitrate of the wireless communication. Explorations with reduced speeds can alleviate the effect of sampling rate limitation. 4. Experimental evaluations This section presents the evaluation of the proposed texture sensor.

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