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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

    更新日期:2020-10-20
  • 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

    更新日期:2020-10-20
  • 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

    更新日期:2020-10-13
  • 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)

    更新日期:2020-10-12
  • 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

    更新日期:2020-10-12
  • 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

    更新日期:2020-10-07
  • 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

    更新日期:2020-10-02
  • 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

    更新日期:2020-10-02
  • 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

    更新日期:2020-09-23
  • 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

    更新日期:2020-09-21
  • 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

    更新日期:2020-09-14
  • 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

    更新日期:2020-09-11
  • 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

    更新日期:2020-09-10
  • 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

    更新日期:2020-09-10
  • 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

    更新日期:2020-09-10
  • 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

    更新日期:2020-09-10
  • 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

    更新日期:2020-09-10
  • 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

    更新日期:2020-09-10
  • 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

    更新日期:2020-09-09
  • 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

    更新日期:2020-09-05
  • 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

    更新日期:2020-09-05
  • 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

    更新日期:2020-09-01
  • 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

    更新日期:2020-08-26
  • 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

    更新日期:2020-08-14
  • 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

    更新日期:2020-08-14
  • 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

    更新日期:2020-08-12
  • 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

    更新日期:2020-08-12
  • 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

    更新日期:2020-07-24
  • 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

    更新日期:2020-07-23
  • 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

    更新日期:2020-07-22
  • 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)

    更新日期:2020-07-21
  • 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

    更新日期:2020-07-21
  • 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

    更新日期:2020-07-20
  • 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

    更新日期:2020-07-17
  • Experimental Validation of an Adaptive Controller for Manipulators on a Dynamic Platform
    Robotica (IF 1.509) Pub Date : 2020-07-17
    Andres Rodriguez Reina; Kim-Doang Nguyen; Harry Dankowicz

    This paper reports on laboratory and field experimental results for controlled robotic manipulators operating on moving platforms with unmodeled dynamics. The aim is to validate theoretical predictions for the dependence on control parameters of an adaptive control strategy. In addition, the results provide insight into different discretizations of the continuous-time formulation, suggesting the most

    更新日期:2020-07-17
  • ARCog: An Aerial Robotics Cognitive Architecture
    Robotica (IF 1.509) Pub Date : 2020-07-16
    Milena F. Pinto; Leonardo M. Honório; Andre L. M. Marcato; Mario A. R. Dantas; Aurelio G. Melo; Miriam Capretz; Cristina Urdiales

    Efficient algorithm integration is a key issue in aerial robotics. However, only a few integration solutions rely on a cognitive approach. Cognitive approaches break down complex problems into independent units that may deal with progressively lower-level data interfaces, all the way down to sensors and actuators. A cognitive architecture defines information flow among units to produce emergent intelligent

    更新日期:2020-07-16
  • On Motion Planning and Control for Partially Differentially Flat Systems
    Robotica (IF 1.509) Pub Date : 2020-07-16
    Yang Bai; Mikhail Svinin; Evgeni Magid; Yujie Wang

    This paper deals with motion planning and control problems for a class of partially differentially flat systems. They possess a feature that the derivative of the fiber variable can be represented purely by the base variable and its derivatives. Based on this feature, a Beta function-based motion planning algorithm is proposed with less computational cost compared with the optimal control formulation

    更新日期:2020-07-16
  • A Quadruped Soft Robot for Climbing Parallel Rods
    Robotica (IF 1.509) Pub Date : 2020-07-16
    Nana Zhu; Hongbin Zang; Bing Liao; Huimin Qi; Zheng Yang; Mingyang Chen; Xin Lang; Yunjie Wang

    Soft robots can perform effectively inspecting than rigid robots in some special environments such as nuclear pipelines and high-voltage cables. This article presents a versatile quadruped soft rod-climbing robot (SR-CR) that consists of four bending actuators and a telescopic actuator. The bending actuator is composed of flexible bellows with multiple folding air chambers, elastic telescopic layer

    更新日期:2020-07-16
  • Delayed Bilateral Teleoperation of the Speed and Turn Angle of a Bipedal Robot
    Robotica (IF 1.509) Pub Date : 2020-07-14
    Viviana Moya; Emanuel Slawiñski; Vicente Mut

    This paper proposes a shared control scheme which aims to achieve a stable control of the speed and turn of a bipedal robot during a delayed bilateral teleoperation. The strategy allows to get a delay-dependent damping value that must be injected to assure a bounded response of the hybrid system, while simultaneously, the human operator receives a force feedback that help him to decrease the synchronism

    更新日期:2020-07-14
  • Speeding Up On-Line Route Scheduling for an Autonomous Robot Through Pre-Built Paths
    Robotica (IF 1.509) Pub Date : 2020-07-14
    Raul Alves; Josué Silva de Morais; Keiji Yamanaka

    Today, robots can be found helping humans with their daily tasks. Some tasks require the robot to visit a set of locations in the environment efficiently, like in the Traveling Salesman Problem. As indoor environments are maze-like areas, feasible paths connecting locations must be computed beforehand, so they can be combined during the scheduling, which can be impracticable for real-time applications

    更新日期:2020-07-14
  • Linear Quadratic Regulator Method in Vision-Based Laser Beam Tracking for a Mobile Target Robot
    Robotica (IF 1.509) Pub Date : 2020-07-03
    Yun Ling; Jian Wu; Weiping Zhou; Yubiao Wang; Changcheng Wu

    This paper proposes a novel laser beam tracking mechanism for a mobile target robot that is used in shooting ranges. Compared with other traditional tracking mechanisms and modules, the proposed laser beam tracking mechanism is more flexible and low cost in use. The mechanical design and the working principle of the tracking module are illustrated, and the complete control system of the mobile target

    更新日期:2020-07-03
  • Head-Raising Method of Snake Robots Based on the Bézier Curve
    Robotica (IF 1.509) Pub Date : 2020-06-30
    Yunhu Zhou; Yuanfei Zhang; Fenglei Ni; Hong Liu

    For acquiring a broad view in an unknown environment, we proposed a control strategy based on the Bézier curve for the snake robot raising its head. Then, an improved discretization method was developed to accommodate the backbone curves with more complex shapes. Besides, in order to determine the condition of using the improved discretization method, energy of framed space curve is introduced originally

    更新日期:2020-06-30
  • A Single-Loop MIMO Trajectory Tracking Controller for Autonomous Quadrotors: The Control Point Concept
    Robotica (IF 1.509) Pub Date : 2020-06-25
    Han Woong Bae; Farbod Fahimi

    In this paper, a sliding mode control using a control point concept is proposed for an under-actuated quadrotor. The proposed controller controls the position of the control point, a displaced point from the quadrotor’s geometric center, and the yaw angle. This method solves singularity issues in control matrix inversion and enables the utilization of the multi-input multi-output equation to derive

    更新日期:2020-06-25
  • Adaptive Robust Tracker Design for Nonlinear Sandwich Systems Subject to Saturation Nonlinearities
    Robotica (IF 1.509) Pub Date : 2020-06-22
    Meysam Azhdari; Tahereh Binazadeh

    This paper addresses the tracking problem for uncertain nonlinear sandwich systems that consist of two nonlinear subsystems and saturation nonlinearity, which is sandwiched between the subsystems. The considered sandwich system is also subject to a nonsymmetric input saturation constraint. Due to the nonsmooth characteristics of sandwiched saturation nonlinearity and also the input saturation function

    更新日期:2020-06-23
  • Design and Kinematics of a Comanipulated Robot Dedicated to Prostate Brachytherapy
    Robotica (IF 1.509) Pub Date : 2020-06-22
    Mozert Djohossou; Aziza Ben Halima; Antoine Valérie; Julien Bert; Dimitris Visvikis

    In brachytherapy, the manual implantation of seeds is not accurate leading to side effects and limiting the use of new procedures. Robotics solutions have to be fully suitable for medical applications especially considering the operating room. This paper investigates a delta robot solution for improving the accuracy of the prostate brachytherapy procedure by proposing a compact and lightweight robot

    更新日期:2020-06-23
  • Dimensional Synthesis and Performance Evaluation of Four Translational Parallel Manipulators
    Robotica (IF 1.509) Pub Date : 2020-06-22
    I. Ben Hamida; M. A. Laribi; A. Mlika; L. Romdhane; S. Zeghloul

    The optimum selection of a structure for a given application is a capital phase in typological synthesis of parallel robots. To help in this selection, this paper presents a performance evaluation of four translational parallel robots: Delta, 3-UPU, Romdhane-Affi-Fayet, and Tri-pyramid (TP). The problem is set as a multiobjective optimization using genetic algorithm methods, which uses kinematic criteria

    更新日期:2020-06-23
  • A New Sensor for Robotic Mars Rovers in Sandy Terrains Predicting Critical Soil Flow Using the Spiral Soil Flow Model
    Robotica (IF 1.509) Pub Date : 2020-06-22
    Saeed Ebrahimi; Arman Mardani; Khalil Alipour

    The current contribution presents a new sinkage sensor specified for an unmanned ground vehicle to find the exact sinkage zone of a wheel interacting with the soil particles. This sensor will be wrapped around the wheel, and consequently, contact analog outputs will be used in soil deposition and bulldozing effect prediction. Furthermore, the new sensor will be used for a novel soil flow calculation

    更新日期:2020-06-23
  • Efficient and Safe Motion Planning for Quadrotors Based on Unconstrained Quadratic Programming
    Robotica (IF 1.509) Pub Date : 2020-06-19
    Yanhui Li; Chao Liu

    An autonomous motion planning framework is proposed, consisting of path planning and trajectory generation. Primarily, a spacious preferred probabilistic roadmap algorithm is utilized to search a safe and short path, considering kinematics and threats from obstacles. Subsequently, a minimum-snap and position-clearance polynomial trajectory problem is transformed into an unconstrained quadratic programming

    更新日期:2020-06-19
  • Autonomous Intelligent Planning Method for Welding Path of Complex Ship Components
    Robotica (IF 1.509) Pub Date : 2020-06-18
    Tao Wang; Zhilong Xue; Xiaoqing Dong; Senlin Xie

    Aiming at planning the welding path of complex ship components, a welding path planning optimization model was constructed with the shortest welding path and using the target and the welding process and welding starting and ending points as constraints. Based on the model, an improved ant colony algorithm with dynamic adaptive parameters was proposed to complete the path planning work. Simulation results

    更新日期:2020-06-18
  • Virtual Simulation and Experimental Verification for 3D-printed Robot Manipulators
    Robotica (IF 1.509) Pub Date : 2020-06-18
    Jonqlan Lin; Kuan-Chung Lai

    The objective of this work is to construct a robot that is based on 3D printing to meet the low-cost and light structures. The Computer-aided-design model is used with LabVIEW to simulate the given trajectory. Users of the simulation of such methodology can preview the simulated motion and perceive and resolve discrepancies between the planned and simulated paths prior to execution of a task. The advantages

    更新日期:2020-06-18
  • Survey on Aerial Manipulator: System, Modeling, and Control – CORRIGENDUM
    Robotica (IF 1.509) Pub Date : 2020-06-17
    Xiangdong Meng; Yuqing He; Jianda Han

    The aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic

    更新日期:2020-06-17
  • Soft Robotic Finger Embedded with Visual Sensor for Bending Perception
    Robotica (IF 1.509) Pub Date : 2020-06-17
    Shixin Zhang; Jianhua Shan; Bin Fang; Fuchun Sun

    The various vision-based tactile sensors have been developed for robotic perception in recent years. In this paper, the novel soft robotic finger embedded with the visual sensor is proposed for perception. It consists of a colored soft inner chamber, an outer structure, and an endoscope camera. The bending perception algorithm based on image preprocessing and deep learning is proposed. The boundary

    更新日期:2020-06-17
  • Constrained RGBD-SLAM
    Robotica (IF 1.509) Pub Date : 2020-06-02
    Sylvie Naudet-Collette; Kathia Melbouci; Vincent Gay-Bellile; Omar Ait-Aider; Michel Dhome

    This paper introduces a new RGBD-Simultaneous Localization And Mapping (RGBD-SLAM) based on a revisited keyframe SLAM. This solution improves the localization by combining visual and depth data in a local bundle adjustment. Then, it presents an extension of this RGBD-SLAM that takes advantage of a partial knowledge of the scene. This solution allows using a prior knowledge of the 3D model of the environment

    更新日期:2020-06-02
  • Hybrid Adaptive Robust Control Based on CPG and ZMP for a Lower Limb Exoskeleton
    Robotica (IF 1.509) Pub Date : 2020-06-02
    Majid Mokhtari; Mostafa Taghizadeh; Mahmood Mazare

    In this paper, hybrid control of central pattern generators (CPGs), along with an adaptive supper-twisting sliding mode (ASTSM) control based on supper-twisting state observer, is proposed to guard against disturbances and uncertainties. Rhythmic and coordinated signals are generated using CPGs. In addition, to overcome the chattering of conventional sliding mode, supper-twisting sliding mode has been

    更新日期:2020-06-02
  • Optimal Motion Planning for Differential Drive Mobile Robots based on Multiple-Interval Chebyshev Pseudospectral Methods
    Robotica (IF 1.509) Pub Date : 2020-05-29
    Run Mao; Hongli Gao; Liang Guo

    This paper presents a Chebyshev Pseudospectral (PS) method for solving the motion planning problem of nonholonomic mobile robots with kinematic and dynamic constraints. The state and control variables are expanded in the Chebyshev polynomial of order N, and Chebyshev–Gauss–Lobatto (CGL) nodes are provided for approximating the system dynamics, boundary conditions, and performance index. For the lack

    更新日期:2020-05-29
  • Bi-Level Adaptive Computed-Current Impedance Controller for Electrically Driven Robots
    Robotica (IF 1.509) Pub Date : 2020-05-28
    Mohsen Jalaeian-F.; Mohammad Mehdi Fateh; Morteza Rahimiyan

    This paper presents a bi-level adaptive computed-current impedance controller for electrically driven robots. This study aims to reduce calculation complexities by utilizing the electrical equations of actuators, instead of the entire model of the electromechanical system. Moreover, taking the dynamical effects of mechanical parts into account through the current’s feedback, external disturbances are

    更新日期:2020-05-28
  • Optimal Trajectory Generation for a 6-DOF Parallel Manipulator Using Grey Wolf Optimization Algorithm
    Robotica (IF 1.509) Pub Date : 2020-05-28
    Chandan Choubey; Jyoti Ohri

    In this paper we designed an optimal trajectory generation (OTG) method to generate easy and errorless continuous path motion with quick converging using Grey Wolf Optimization (GWO) method. The proposed OTG method finds the trajectory path with minimum tracking error, combined speed, joint increasing speed wrinkle, as well as joint lurching move to follow an error-free smooth continuous path.

    更新日期:2020-05-28
  • Depth Estimation for Local Colon Structure in Monocular Capsule Endoscopy Based on Brightness and Camera Motion
    Robotica (IF 1.509) Pub Date : 2020-05-27
    Lei Xu; Jing Li; Yang Hao; Peisen Zhang; Gastone Ciuti; Paolo Dario; Qiang Huang

    We present a 3D reconstruction method using brightness and camera motion estimation for registering local colon structure in colonoscopy. The proposed method is based on reverse projection from 2D fold contours to 3D space, motion estimation from 3D reconstructed points between neighboring frames, and model registration to reconstruct the fold structure. On the synthetic colon, the average percentages

    更新日期:2020-05-27
  • Information Fusion of GPS, INS and Odometer Sensors for Improving Localization Accuracy of Mobile Robots in Indoor and Outdoor Applications
    Robotica (IF 1.509) Pub Date : 2020-05-27
    Sofia Yousuf; Muhammad Bilal Kadri

    In mobile robot localization with multiple sensors, myriad problems arise as a result of inadequacies associated with each of the individual sensors. In such cases, methodologies built upon the concept of multisensor fusion are well-known to provide optimal solutions and overcome issues such as sensor nonlinearities and uncertainties. Artificial neural networks and fuzzy logic (FL) approaches can effectively

    更新日期:2020-05-27
  • Trajectory Planning of Quadrotor Systems for Various Objective Functions
    Robotica (IF 1.509) Pub Date : 2020-05-20
    Hamidreza Heidari; Martin Saska

    Quadrotors are unmanned aerial vehicles with many potential applications ranging from mapping to supporting rescue operations. A key feature required for the use of these vehicles under complex conditions is a technique to analytically solve the problem of trajectory planning. Hence, this paper presents a heuristic approach for optimal path planning that the optimization strategy is based on the indirect

    更新日期:2020-05-20
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