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Wrench Capabilities of a Kinematically Redundant Planar Parallel Manipulator Robotica (IF 1.509) Pub Date : 2021-01-26 Roger Boudreau; Scott Nokleby; Marise Gallant
This paper presents a methodology to obtain the wrench capabilities of a kinematically redundant planar parallel manipulator using a wrench polytope approach. A methodology proposed by others for non-redundant and actuation-redundant manipulators is adapted to a kinematically redundant manipulator. Four wrench capabilities are examined: a pure force analysis, the maximum force for a prescribed moment
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Dynamics and Control of a Novel Microrobot with High Maneuverability Robotica (IF 1.509) Pub Date : 2021-01-20 Alireza Esfandbod; Hossein Nejat Pishkenari; Ali Meghdari
In this study, we introduce a novel three-dimensional micro-scale robot capable of swimming in low Reynolds number. The proposed robot consists of three rotating disks linked via three perpendicular adjustable rods, actuated by three rotary and three linear motors, respectively. The robot mechanism has an important property which makes it superior to the previously designed micro swimmers. In fact
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A Mathematical Model Including Mechanical Structure, Hydraulic and Control of LHDS Robotica (IF 1.509) Pub Date : 2021-01-20 Guoliang Ma; Kaixian Ba; Zhiwu Han; Zhengguo Jin; Bin Yu; Xiangdong Kong
In this paper, mathematical models of kinematics, statics and inverse dynamics are derived firstly according to the mechanical structure of leg hydraulic drive system (LHDS). Then, all the above models are integrated with MATLAB/Simulink to build the LHDS simulation model, the model not only considers influence of leg dynamic characteristics on hydraulic system but also takes into account nonlinearity
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A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot Robotica (IF 1.509) Pub Date : 2021-01-20 Xiaogang Song; Yongjie Zhao; Chengwei Chen; Liang’an Zhang; Xinjian Lu
In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain
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A Data Association Algorithm for SLAM Based on Central Difference Joint Compatibility Criterion and Clustering Robotica (IF 1.509) Pub Date : 2021-01-14 Dan Liu
A data association algorithm for simultaneous localization and mapping (SLAM) based on central difference joint compatibility (CDJC) criterion and clustering is proposed to obtain the data association results. Firstly, CDJC criterion is designed to calculate joint Mahalanobis distance. Secondly, ordering points to identify the clustering structure is used to divide all observed features into several
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Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems Robotica (IF 1.509) Pub Date : 2021-01-14 Jinwei Yu; Jinchen Ji; Zhonghua Miao; Jin Zhou
This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots
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Different Prevention and Treatment Strategies for Knee Osteoarthritis (KOA) with Various Lower Limb Exoskeletons – A Comprehensive Review Robotica (IF 1.509) Pub Date : 2021-01-13 Xin Zhou; Geng Liu; Bing Han; Hui Li; Li Zhang; Xiaoli Liu
It was reported that about 10% of people suffer from painful knee arthritis, and a quarter of them were severely disabled. The core activities of daily living were severely limited by knee osteoarthritis (KOA). In order to reduce knee pain and prolong the life of the knee joint, there has been an increasing demand on the development of exoskeletons, for prevention and treatment. The course of KOA was
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Dynamic Modeling and Control of a Novel One-Legged Hopping Robot Robotica (IF 1.509) Pub Date : 2021-01-13 Amin Khakpour Komarsofla; Ehsan Azadi Yazdi; Mohammad Eghtesad
In this article, a novel mechanism for planar one-legged hopping robots is proposed. The robot consists of a flat foot which is pinned to the leg and a reciprocating mass which is connected to the leg via a prismatic joint. The proposed mechanism performs the hopping by transferring linear momentum between the reciprocating mass and its main body. The nonlinear equations of the motion of the robot
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Position-Based Fractional-Order Impedance Control of a 2 DOF Serial Manipulator Robotica (IF 1.509) Pub Date : 2021-01-13 Selçuk Kizir; Ali Elşavi
Impedance control is one of the interaction and force control methods that has been widely applied in the research of robotics. In this paper, a new position-based fractional-order impedance control scheme is proposed and applied to a 2 DOF serial manipulator. An RR robot manipulator with full arm dynamics and its environment were designed using Matlab/Simulink. The position control of the manipulator
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Control of Teleoperation Systems in the Presence of Varying Transmission Delay, Non-passive Interaction Forces, and Model Uncertainty Robotica (IF 1.509) Pub Date : 2021-01-08 Robab Ebrahimi Bavili; Ahmad Akbari; Reza Mahboobi Esfanjani
This paper addresses robust stability and position tracking problems in teleoperation systems subject to varying delay in the communication medium, uncertainties in the models of manipulators, and non-passive interaction forces in the terminations. Fixed-structure nonlinear control law is developed based on the notion of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) scheme
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Design and Implementation of a Cable Inspection Robot for Cable-Stayed Bridges Robotica (IF 1.509) Pub Date : 2021-01-08 Zhipeng Wang; Bin He; Yanmin Zhou; Ke Liu; Chenghong Zhang
Cable is the most important bearing structure of the cable-stayed bridges. Its safety has been of crucial public concern. Traditional manual cable inspection method has many defects such as low inspection efficiency, poor reliability and hazardous working environment. In this paper, a new wirelessly controlled cable-climbing robot enabling safe and convenient inspection of stay cables is proposed.
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Dynamic Modeling and Mobility Analysis of the 3-R(RRR)R+R Antenna Mechanism Robotica (IF 1.509) Pub Date : 2021-01-08 Guoxing Zhang; Donghao Zheng; Jinwei Guo; Yulei Hou; Daxing Zeng
A novel 3-R(RRR)R+R (R as revolute joint) hybrid antenna mechanism (HAM) is proposed for noncircular polarized antenna. First, its mobility characteristic is analyzed. Besides, its kinematics is deduced, and the velocity and acceleration are obtained. Afterward, its dynamic model is established. The actuation torques of each actuation joint are obtained. Its actuation torques are verified by mathematical
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Dynamic Modeling and Optimal Control of a Novel Microswimmer with Gimbal Based Disks Robotica (IF 1.509) Pub Date : 2021-01-08 Ali Nickandish; Hossein Nejat Pishkenari
We have introduced a new low-Reynolds-number microrobot with high 3D maneuverability. Our novel proposed microrobot has a higher rank of the controllability matrix with respect to the previous microswimmers which makes it capable of performing complex motions in space. In this study, governing equations of the microswimmer’s motion have been derived and simulated. Subsequently, we have proposed a cascade
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A Mathematical Model for an Integrated Assembly Line Regarding Learning and Fatigue Effects Robotica (IF 1.509) Pub Date : 2021-01-08 Reza Eslamipoor; Arash Nobari
In this paper, an integrated mathematical model for the balancing and sequencing problems of a mixed-model assembly line (MMAL) is developed. The proposed model minimizes the total overload and idleness times. For the sake of reality, the impact of operator’s learning and fatigue issues on the optimization of the assembly line balancing and sequencing problems is considered. Furthermore, it is assumed
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Modeling and Effective Foot Force Distribution for the Legs of a Quadruped Robot Robotica (IF 1.509) Pub Date : 2021-01-08 Priyaranjan Biswal; Prases K. Mohanty
This paper presents the detailed dynamic modeling of a quadruped robot. The forward and inverse kinematic analysis of each leg of the proposed model is deduced using Denavit-Hartenberg (D-H) parameters. It desires to calculate the optimal feet forces of the quadruped robot’s joint torque, which is essential for its online control. To find out the optimal feet force distribution, two approaches are
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Modeling of Inverse Kinematic of 3-DoF Robot, Using Unit Quaternions and Artificial Neural Network Robotica (IF 1.509) Pub Date : 2021-01-08 Eusebio Jiménez-López; Daniel Servín de la Mora-Pulido; Luis Alfonso Reyes-Ávila; Raúl Servín de la Mora-Pulido; Javier Melendez-Campos; Aldo Augusto López-Martínez
This paper presents a novel method for modeling a 3-degree of freedom open kinematic chain using quaternions algebra and neural network to solve the inverse kinematic problem. The structure of the network was composed of 3 hidden layers with 25 neurons per layer and 1 output layer. The network was trained using the Bayesian regularization backpropagation. The inverse kinematic problem was modeled as
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Screw Dynamic Modeling and Novel Composite Error-Based Second-order Sliding Mode Dynamic Control for a Bilaterally Symmetrical Hybrid Robot Robotica (IF 1.509) Pub Date : 2021-01-08 Qiuyue Qin; Guoqin Gao
In this research, a dynamic model is first established based on screw theory and the principle of virtual work for a bilaterally symmetrical hybrid robot. By combining a novel composite error (NCE) with second-order nonsingular fast terminal sliding mode (SONFTSM) control method, a NCE-based SONFTSM dynamic control method is further presented to guarantee better trajectory tracking performance and
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A Survey on Brachiation Robots: An Energy-Based Review Robotica (IF 1.509) Pub Date : 2021-01-08 Sibyla Andreuchetti; Vinícius M. Oliveira; Toshio Fukuda
Many different control schemes have been proposed in the technical literature to control the special class of underactuated systems, the- so-called brachiation robots. However, most of these schemes are limited with regard to the method by which the robot executes the brachiation movement. Moreover, many of these control strategies do not take into account the energy of the system as a decision variable
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Motion Adaptation Based on Learning the Manifold of Task and Dynamic Movement Primitive Parameters Robotica (IF 1.509) Pub Date : 2020-12-18 Yosef Cohen; Or Bar-Shira; Sigal Berman
Dynamic movement primitives (DMP) are motion building blocks suitable for real-world tasks. We suggest a methodology for learning the manifold of task and DMP parameters, which facilitates runtime adaptation to changes in task requirements while ensuring predictable and robust performance. For efficient learning, the parameter space is analyzed using principal component analysis and locally linear
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Optimal Architecture Planning of Modules for Reconfigurable Manipulators Robotica (IF 1.509) Pub Date : 2020-12-18 Anubhav Dogra; Srikant Sekhar Padhee; Ekta Singla
Modules are requisite for the realization of modular reconfigurable manipulators. The design of modules in literature mainly revolves around geometric aspects and features such as lengths, connectivity and adaptivity. Optimizing and designing the modules based on dynamic performance is considered as a challenge here. The present paper introduces an Architecture-Prominent-Sectioning (APS) strategy for
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Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems Robotica (IF 1.509) Pub Date : 2020-12-17 Wenzhong Yan; Ankur Mehta
To improve the accessibility of robotics, we propose a design and fabrication strategy to build low-cost electromechanical systems for robotic devices. Our method, based on origami-inspired cut-and-fold and E-textiles techniques, aims at minimizing the resources for robot creation. Specifically, we explore techniques to create robots with the resources restricted to single-layer sheets (e.g., polyester
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Mechanism Configuration and Innovation Control System Design for Power Cable Line Mobile Maintenance Robot Robotica (IF 1.509) Pub Date : 2020-12-15 Wei Jiang; Gao Cheng Ye; De Hua Zou; Yu Yan
High-voltage power cables are important channels for power transmission systems. Their special geographical environment and harsh natural environment can lead to many different faults. At present, such special operations in dangerous and harsh environments are performed manually, which not only has high labor intensity and low work efficiency but also has great personal safety risks. In order to solve
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Self-Localization in Highly Dynamic Environments Based on Dual-Channel Unscented Particle Filter Robotica (IF 1.509) Pub Date : 2020-11-19 Chen Hao; Liu Chengju; Chen Qijun
Self-localization in highly dynamic environments is still a challenging problem for humanoid robots with limited computation resource. In this paper, we propose a dual-channel unscented particle filter (DC-UPF)-based localization method to address it. A key novelty of this approach is that it employs a dual-channel switch mechanism in measurement updating procedure of particle filter, solving for sparse
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Wireless Robotic Components for Autonomous Vehicles Robotica (IF 1.509) Pub Date : 2020-11-06 Juan Francisco Villa-Medina; Miguel Ángel Porta-Gándara; Joaquín Gutiérrez
A versatile architecture is presented to implement autonomous vehicles. The focus idea consists of a set of standalone modules, called wireless robotic components wireless robotic components (WRCs). Each component performs a particular function by means of a radio modem interface, a processing unit, and a sensor/actuator. The components interact through a coordinator that redirects asynchronous requests
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Polynomial-Based Robust Adaptive Impedance Control of Electrically Driven Robots Robotica (IF 1.509) Pub Date : 2020-11-04 Alireza Izadbakhsh; Saeed Khorashadizadeh
This paper presents a robust adaptive impedance controller for electrically driven robots using polynomials of degree N as a universal approximator. According to the universal approximation theorem, polynomials of degree N can approximate uncertainties including un-modeled dynamics and external disturbances. This fact is completely discussed and proved in this paper. The polynomial coefficients are
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Cooperative Pursuit Control for Multiple Underactuated Underwater Vehicles with Time Delay in Three-Dimensional Space Robotica (IF 1.509) Pub Date : 2020-10-27 Xue Qi; Zhi-Jun Cai
In this paper, the k-valued logic control network is introduced to study the cooperative pursuit control problem of multiple underactuated underwater vehicles (UUVs) with time delay in three-dimensional space. The semi-tensor product of matrices is used to solve the complex calculation problem of the large dimension matrix. The influence of communication delay on multiple UUVs’ optimization and cooperative
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Dynamic Strategy Planning of Humanoid Robots Using Glowworm-Based Optimization Robotica (IF 1.509) Pub Date : 2020-10-20 Priyadarshi Biplab Kumar; Dayal R. Parhi; Manoj Kumar Muni; Krishna Kant Pandey; Animesh Chhotray; Diana Pradhan
In this paper, a novel dynamic navigational planning strategy is proposed for single as well as multiple humanoids in intricate environments on a glowworm-based optimization method. The sensory information regarding the obstacle distances and target information are supplied as inputs to the navigational model. The essential turning angle is generated as the output of the controller to avoid obstacles
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A Parameter Dimension Reduction-Based Estimation Approach to Enhance the Kinematic Accuracy of a Parallel Hardware-in-the-Loop Docking Simulator Robotica (IF 1.509) Pub Date : 2020-10-20 Yan Hu; Feng Gao; Xianchao Zhao; Tianhao Yang; Haoran Shen; Chenkun Qi; Rui Cao
The hardware-in-the-loop docking simulators are significant ground test equipment for aerospace projects. The fidelity of docking simulation highly depends on the accuracy performance. This paper investigates the kinematic accuracy for the developed docking simulator. A novel kinematic calibration method which can reduce the number of parameters for error modeling is presented. The principle of parameters
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Perfect Torque Compensation of Planar 5R Parallel Robot in Point-to-Point Motions, Optimal Control Approach Robotica (IF 1.509) Pub Date : 2020-10-13 Mojtaba Riyahi Vezvari; Amin Nikoobin; Ali Ghoddosian
In this paper, a new approach is presented for perfect torque compensation of the robot in point-to-point motions. The proposed method is formulated as an open-loop optimal control problem. The problem is defined as optimal trajectory planning with adjustable design parameters to compensate applied torques of a planar 5R parallel robot for a given task, perfectly. To illustrate the effectiveness of
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Special Issue on Human–Robot Interaction (HRI) Robotica (IF 1.509) Pub Date : 2020-10-12 Nikos Aspragathos; Vassilis Moulianitis; Panagiotis Koustoumpardis
Human–robot interaction (HRI) is one of the most rapidly growing research fields in robotics and promising for the future of robotics technology. Despite the fact that numerous significant research results in HRI have been presented during the last years, there are still challenges in several critical topics of HRI, which could be summarized as: (i) collision and safety, (ii) virtual guides, (iii)
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Physical Human–Robot Cooperation Based on Robust Motion Intention Estimation Robotica (IF 1.509) Pub Date : 2020-09-23 Konstantinos I. Alevizos; Charalampos P. Bechlioulis; Kostas J. Kyriakopoulos
Cooperative transportation by human and robotic coworkers constitutes a challenging research field that could lead to promising technological achievements. Toward this direction, the present work demonstrates that, under a leader–follower architecture, where the human determines the object’s desired trajectory, complex cooperative object manipulation with minimal human effort may be achieved. More
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CPC Algorithm: Exact Area Coverage by a Mobile Robot Using Approximate Cellular Decomposition Robotica (IF 1.509) Pub Date : 2020-10-07 K. R. Guruprasad; T. D. Ranjitha
A new coverage path planning (CPP) algorithm, namely cell permeability-based coverage (CPC) algorithm, is proposed in this paper. Unlike the most CPP algorithms using approximate cellular decomposition, the proposed algorithm achieves exact coverage with lower coverage overlap compared to that with the existing algorithms. Apart from a formal analysis of the algorithm, the performance of the proposed
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Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots Robotica (IF 1.509) Pub Date : 2020-10-02 Roger Datouo; Joseph Jean-Baptiste Mvogo Ahanda; Achille Melingui; Frédéric Biya-Motto; Bernard Essimbi Zobo
The problem of finite-time tracking control for n-link flexible-joint robot manipulators is addressed. An adaptive fuzzy finite-time command-filtered backstepping control scheme is presented to solve the following problems: “explosion of terms” problem, finite-time stabilization of the closed-loop system, and the reduction of computational cost. To this end, new virtual adaptive control signals and
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Development of an Autonomous Robotics Platform for Road Marks Painting Using Laser Simulator and Sensor Fusion Technique Robotica (IF 1.509) Pub Date : 2020-10-02 Mohammed A. H. Ali; Musa Mailah; Khaja Moiduddin; Wadea Ameen; Hisham Alkhalefah
The design and experimental works of an autonomous robotic platform for road marks painting are presented in this paper as the first autonomous system of its kind. The whole system involves two main sub-systems, namely: an autonomous mobile robot navigation system which is used for recognizing the roads and estimating the position of road marks, and automatic road marks painting system that is attached
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A Visual Programming Approach for Co-designed Robots Robotica (IF 1.509) Pub Date : 2020-09-23 Andrés S. Vázquez; Tomás Calvo; Raúl Fernández; Francisco Ramos
This paper proposes an approach for the high-level programming of co-designed robots that reduces programming complexity. Particularly, the work presented focuses on the programming framework of an intelligent system, based on the IEEE Standard Ontologies for Robotics and Automation, which allows users the automatic design of robots and the automatic implementation of controllers in the Robot Operating
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Calibration of Multiple Depth Sensor Network Using Reflective Pattern on Spheres: Theory and Experiments Robotica (IF 1.509) Pub Date : 2020-09-21 Nasreen Mohsin; Shahram Payandeh
The usage of depth data from time-of-flight or any equivalent devices overcomes visual challenges presented under low illumination. For integrating such data from multiple sources, the paper proposes a novel tool for the calibration of sensors. The proposed tool consists of retro-reflective stripped spheres. To correctly estimate these spheres, the paper investigates the performance of spherical estimations
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Real-time Unmanned Aerial Vehicle Cruise Route Optimization for Road Segment Surveillance using Decomposition Algorithm Robotica (IF 1.509) Pub Date : 2020-09-14 Xiaofeng Liu; Jian Ma; Dashan Chen; Li-Ye Zhang
Unmanned aerial vehicle (UAV) was introduced for nondeterministic traffic monitoring, and a real-time UAV cruise route planning approach was proposed for road segment surveillance. First, critical road segments are defined so as to identify the visiting and unvisited road segments. Then, a UAV cruise route optimization model is established. Next, a decomposition-based multi-objective evolutionary algorithm
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Motion Control and Trajectory Planning for Obstacle Avoidance of the Mobile Parallel Robot Driven by Three Tracked Vehicles Robotica (IF 1.509) Pub Date : 2020-09-11 Shuzhan Shentu; Fugui Xie; Xin-Jun Liu; Zhao Gong
This paper proposes a mobile parallel robot (MPR) and focuses on obstacle avoidance. When analyzing the collision-free trajectories, the coupling constraints caused by the parallel mechanism and the obstacle should be emphatically solved. The solution is to divide the problem into two steps. First, the genetic algorithm is employed to search and optimize the feasible trajectories under the mechanism
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Appraisement and Analysis of Dynamical Stability of Under-Constrained Cable-Driven Lower-Limb Rehabilitation Training Robot Robotica (IF 1.509) Pub Date : 2020-09-10 Yan-Lin Wang; Ke-Yi Wang; Wan-Li Wang; Zhuang Han; Zi-Xing Zhang
The dynamical stability of the cable-driven lower-limb rehabilitation training robot (CLLRTR) is a crucial question. Based on the established dynamics model of CLLRTR, the solution to the wrench closure of the under-constrained system is presented. Secondly, the stability index of CLLRTR is proposed by the Krasovski method. Finally, in order to analyze the stability distribution of CLLRTR in the workspace
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Effects of Spherical Clearance Joint on Dynamics of Redundant Driving Spatial Parallel Mechanism Robotica (IF 1.509) Pub Date : 2020-09-10 Xiulong Chen; Jingyao Guo
This paper proposes a dynamic modeling method of redundant drive spatial parallel mechanism, dynamics of 4-UPS-RPU redundant driving spatial parallel mechanism considering spherical joint clearance are analyzed. The dynamic equation of spherical joint clearance with Lagrange multiplier is built. The influences of single clearance and multiple clearances on dynamic responses of redundant drive spatial
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One Way to Fill All the Concave Region in Grid-Based Map Robotica (IF 1.509) Pub Date : 2020-09-10 ZiYing Zhang; Xu Yang; Dong Xu; Ke Geng; YuLong Meng; GuangSheng Feng
The search space of the path planning problem can greatly affect the running time and memory consumption, for example, the concave obstacle in grid-based map usually leads to the invalid search space. In this paper, the filling container algorithm is proposed to alleviate the concave area problem in 2D map space, which is inspired from the scenario of pouring water into a cup. With this method, concave
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Path Planning Methodology for Multi-Layer Welding of Intersecting Pipes Considering Collision Avoidance Robotica (IF 1.509) Pub Date : 2020-09-10 M. Shahabi; H. Ghariblu; M. Beschi; N. Pedrocchi
The V-groove joint of thick wall intersecting pipes must be filled by multi-layer weld. The welding path of intersecting pipes is complicated, and hence multi-layer welds increase the complexity of the problem. This paper proposes a methodology for path planning of multi-layer weld of thick wall intersecting pipes. The methodology is based on measuring the electrode pose located in both side and front
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Reassembling Transformations for Robot Manipulators Characterised Using Network Theoretic and Clifford-Algebraic Methods Robotica (IF 1.509) Pub Date : 2020-09-10 Sudharsan Thiruvengadam; Jei Shian Tan; Karol Miller
A robotic manipulator’s classical mechanical capabilities are governed by the design parameters (mass, geometry, dimensions, etc.) of its kinematic pairs and its architecture (number of limbs, degrees of freedom, actuation ability, etc.). Using Clifford-Algebraic and network theoretic methods, this work presents a novel-theoretical framework which allows any two robot architectures and design parameters
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Safe Motion Planning Based on a New Encoding Technique for Tree Expansion Using Particle Swarm Optimization Robotica (IF 1.509) Pub Date : 2020-09-10 Sara Bouraine; Ouahiba Azouaoui
Robots are now among us and even though they compete with human beings in terms of performance and efficiency, they still fail to meet the challenge of performing a task optimally while providing strict motion safety guarantees. It is therefore necessary that the future generation of robots evolves in this direction. Generally, in robotics state-of-the-art approaches, the trajectory optimization and
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Design, Construction, and Control for an Underwater Vehicle Type Sepiida Robotica (IF 1.509) Pub Date : 2020-09-08 M. Garcia; P. Castillo; E. Campos; R. Lozano
A novel underwater vehicle configuration with an operating principle as the Sepiida animal is presented and developed in this paper. The mathematical equations describing the movements of the vehicle are obtained using the Newton–Euler approach. An analysis of the dynamic model is done for control purposes. A prototype and its embedded system are developed for validating analytically and experimentally
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Parameter Identification of Spatial–Temporal Varying Processes by a Multi-Robot System in Realistic Diffusion Fields Robotica (IF 1.509) Pub Date : 2020-09-04 Wencen Wu; Jie You; Yufei Zhang; Mingchen Li; Kun Su
In this article, we investigate the problem of parameter identification of spatial–temporal varying processes described by a general nonlinear partial differential equation and validate the feasibility and robustness of the proposed algorithm using a group of coordinated mobile robots equipped with sensors in a realistic diffusion field. Based on the online parameter identification method developed
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Design and Function Realization of Nuclear Power Inspection Robot System Robotica (IF 1.509) Pub Date : 2020-09-04 Zhang Zhonglin; Fu Bin; Li Liquan; Yang Encheng
The particularity of nuclear power plant environment requires that the nuclear power inspection robot must be remote control operation. The main purpose of the inspection robot is to carry out inspection, prevention, reporting, and safety emergency operation on the instruments, so as to provide guarantee for the safe operation of the nuclear power plant. Based on the representative configuration of
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Mobile Robotic Sensors for Environmental Monitoring using Gaussian Markov Random Field Robotica (IF 1.509) Pub Date : 2020-09-01 Linh Nguyen; Sarath Kodagoda; Ravindra Ranasinghe; Gamini Dissanayake
This paper addresses the issue of monitoring spatial environmental phenomena of interest utilizing information collected by a network of mobile, wireless, and noisy sensors that can take discrete measurements as they navigate through the environment. It is proposed to employ Gaussian Markov random field (GMRF) represented on an irregular discrete lattice by using the stochastic partial differential
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Robust Square-Root Cubature FastSLAM with Genetic Operators Robotica (IF 1.509) Pub Date : 2020-08-26 Ramazan Havangi
An improved FastSLAM based on the robust square-root cubature Kalman filter (RSRCKF) with partial genetic resampling is proposed in this paper. In the proposed method, RSRCKF is used to design the proposal distribution of FastSLAM and to estimate environment landmarks. The proposed method does not require a priori knowledge of the noise statistics. In addition, to increase diversity, it uses the genetic
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A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator Robotica (IF 1.509) Pub Date : 2020-08-13 Guoli Song; Shun Su; Yingli Li; Xingang Zhao; Huibin Du; Jianda Han; Yiwen Zhao
The 7 degrees of freedom (DOF) redundant manipulator greatly improves obstacle/singularity avoidance capability and operational flexibility. However, the inverse kinematics problem of this manipulator is very difficult to solve because it has an infinite number of solutions. This paper uses a new numerical sequence processing method with a closed-loop framework to solve the inverse kinematics of the
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Continuous Finite-Time Torque Control for Flexible Assistance Exoskeleton with Delay Variation Input Robotica (IF 1.509) Pub Date : 2020-08-13 Tao Xue; ZiWei Wang; Tao Zhang; Ou Bai; Meng Zhang; Bin Han
Accurate torque control is a critical issue in the compliant human–robot interaction scenario, which is, however, challenging due to the ever-changing human intentions, input delay, and various disturbances. Even worse, the performances of existing control strategies are limited on account of the compromise between precision and stability. To this end, this paper presents a novel high-performance torque
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Importing the Human Factor into Safe Human–Robot Interaction Function Using the Bond Graph Method Robotica (IF 1.509) Pub Date : 2020-08-12 Po-Jen Cheng; Hsiang-Yuan Ting; Han-Pang Huang
The variable stiffness actuator (VSA) is helpful to realize the post-collision safety strategies for safe human–robot interaction.1 The stiffness of the robot will be reduced to protect the user from injury when the collision between the robot and human occurs. However, The VSA has a mechanism limit constraint that can cause harm to users even if the stiffness is minimized. Accordingly, in this article
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Stabilization of a Tractor with n Trailers in the Presence of Wheel Slip Effects Robotica (IF 1.509) Pub Date : 2020-08-12 Ali Keymasi Khalaji; Mostafa Jalalnezhad
The purpose of this paper is to design a stabilizing controller for a car with n connected trailers. The proposed control algorithm is constructed on the Lyapunov theory. In this paper, the purpose of navigating the system toward the desired point considering the slip phenomenon as a main source of uncertainty is analyzed. First mathematical models are presented. Then, a stabilizing control approach
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Robust Multimode Flight Framework Based on Sliding Mode Control for a Rotary UAV Robotica (IF 1.509) Pub Date : 2020-07-24 Abraham Villanueva; Luis F. Luque-Vega; Luis E. González-Jiménez; Carlos A. Arellano-Muro
This work presents a multimode flight framework control scheme for a quadrotor based on the super twisting algorithm. The controller design stages for six flight control modes are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions, while the stability analysis for the complete control scheme, when a transition from one flight mode to another occurs, is
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Evaluation of the Kinematic Performance of a 3-RRS Parallel Mechanism Robotica (IF 1.509) Pub Date : 2020-07-23 Manxin Wang; Qiusheng Chen; Haitao Liu; Tian Huang; Hutian Feng; Wenjie Tian
This paper proposes a set of novel indices for evaluating the kinematic performance of a 3-RRS (R and S denote revolute and spherical joint respectively, R denotes active joint.), parallel mechanism whose translational and rotational movements are strongly coupled. First, the indices are formulated using the decoupled overall Jacobian matrix, which is developed using coordinate transformation. Then
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Dynamics Modeling of Human–Machine Control Interface for Underwater Teleoperation Robotica (IF 1.509) Pub Date : 2020-07-22 Giovanni Gerardo Muscolo; Simone Marcheschi; Marco Fontana; Massimo Bergamasco
This paper presents an experimental study on new paradigms of haptic-based teleoperated navigation of underwater vehicles. Specifically, the work is focused on investigating the possibility of enhancing the user interaction by introducing haptic cues at the level of the user wrist providing a force feedback that reflects dynamic forces on the remotely operated underwater vehicle. Different typologies
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A Distributed Approach for the Implementation of Geometric Reconstruction-Based Visual SLAM Systems Robotica (IF 1.509) Pub Date : 2020-07-21 Otacílio de Araújo Ramos Neto; Abel Cavalcante Lima Filho; Tiago P. Nascimento
Visual simultaneous localization and mapping (VSLAM) is a relevant solution for vehicle localization and mapping environments. However, it is computationally expensive because it demands large computational effort, making it a non-real-time solution. The VSLAM systems that employ geometric reconstructions are based on the parallel processing paradigm developed in the Parallel Tracking and Mapping (PTAM)
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A Human Arm’s Mechanical Impedance Tuning Method for Improving the Stability of Haptic Rendering Robotica (IF 1.509) Pub Date : 2020-07-21 Xiong Lu; Beibei Qi; Hao Zhao; Junbin Sun
Rendering of rigid objects with high stiffness while guaranteeing system stability remains a major and challenging issue in haptics. Being a part of the haptic system, the behavior of human operators, represented as the mechanical impedance of arm, has an inevitable influence on system performance. This paper first verified that the human arm impedance can unconsciously be modified through imposing
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Stable Robotic Grasping of Multiple Objects using Deep Neural Networks Robotica (IF 1.509) Pub Date : 2020-07-20 Dongeon Kim; Ailing Li; Jangmyung Lee
Optimal grasping points for a robotic gripper were derived, based on object and hand geometry, using deep neural networks (DNNs). The optimal grasping cost functions were derived using probability density functions for each local cost function of the normal distribution. Using the DNN, the optimum height and width were set for the robot hand to grasp objects, whose geometric and mass centre points
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Development of a Method for Data Dimensionality Reduction in Loop Closure Detection: An Incremental Approach Robotica (IF 1.509) Pub Date : 2020-07-17 Leandro A. S. Moreira; Claudia M. Justel; Jauvane C. de Oliveira; Paulo F. F. Rosa
This article proposes a method for incremental data dimensionality reduction in loop closure detection for robotic autonomous navigation. The approach uses dominant eigenvector concept for: (a) spectral description of visual datasets and (b) representation in low dimension. Unlike most other papers on data dimensionality reduction (which is done in batch mode), our method combines a sliding window
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