Abstract
In this paper we propose a method to develop an omnidirectional kick (behavior) for a humanoid robot. This behavior uses a path planning module to create a trajectory that the foot must follow to propel the ball in the intended direction. Two additional modules were required when performing the movement: Inverse kinematics module which computes the value of the joints to position the foot at a given position and the stability module which is responsible for the robot's stability. Simulation tests are performed under different ball positions, relative to the robot's orientation, and for various ball directions. The results obtained showed the usefulness of the approach since the behavior performs accurately the intended motion and is able to kick the ball in all the directions desired.

Abstract
Many people with disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling the devices. Intelligent wheelchairs are a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes a development platform for intelligent wheelchairs called IntellWheels. The intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. The paper describes the concept and design of the platform and also the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also presented.

Abstract
Intelligent wheelchairs operating in dynamic environments need to sense its neighborhood and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, real-time obstacle avoidance extension of the classic potential field methodology. Our algorithm is specially adapted to share the wheelchair's control with the user avoiding risky situations. This method relies on the idea of virtual forces, generated by the user command (attractive force) and by the objects detected on each ultrasonic sensor (repulsive forces), acting on the wheelchair. The resultant wheelchair's behavior is obtained by the sum of the attractive force and all the repulsive forces at a given position. Experimental results from drive tests in a cluttered office environment provided statistical evidence that the proposed algorithm is effective to reduce the number of collisions and still improve the user's safety perception. ©2010 IEEE.

Abstract
With the rising concern about the needs of people with physical disabilities and with the aging of the population there is a major concern of creating electronic devices that may improve the life of the physically handicapped and elderly person. One of these new solutions passes through the adaptation of electric wheelchairs in order to give them environmental perception, more intelligent capabilities and more adequate Human - Machine Interaction. This paper focuses in the development of a user-friendly multimodal interface, which is integrated in the Intellwheels project. This simple multimodal human-robot interface developed allows the connection of several input modules, enabling the wheelchair control through flexible input sequences of distinct types of inputs (voice, facial expressions, head movements, keyboard and, joystick). The system created is capable of storing user defined associations, of input's sequences and corresponding output commands. The tests performed have proved the system efficiency and the capabilities of this multimodal interface.

Abstract
Many people with severe disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling these electrical devices. Intelligent wheelchairs are a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes a development platform for intelligent wheelchairs called IntellWheels. The intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. The paper describes the concept and design of the platform, including the hardware and software, multimodal input interface and the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also described showing the autonomous movement capabilities of the prototype. © 2009 Springer-Verlag Berlin Heidelberg.

Abstract
This paper presents a new architecture for coordinating multiple autonomous robots in the execution of cooperative tasks. The architecture is based on the definition of a strategy that uses different tactics, setplays and roles. Roles enable to configure individual behaviour by performing specific tasks using a given set of actions. The proposed architecture allows flexible and efficient multi-robot operation in dynamic environments. The paper also presents an application of the proposed architecture to a complex domain such as middle-size robotic soccer. Our architecture is also generally enough to be applied in different robotic soccer leagues and similar multi-robot problems. Copyright © 2006 IFAC.