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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

    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
  • Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement
    Robotica (IF 1.509) Pub Date : 2020-05-20
    Ali Torabi; Mohsen Khadem; Koroush Zareinia; Garnette Roy Sutherland; Mahdi Tavakoli

    The enhanced dexterity and manipulability offered by master–slave teleoperated surgical systems have significantly improved the performance and safety of minimally invasive surgeries. However, effective manipulation of surgical robots is sometimes limited due to the mismatch between the slave and master robots’ kinematics and workspace. The purpose of this paper is first to formulate a quantifiable

    更新日期:2020-05-20
  • A Multi-Priority Controller for Industrial Macro-Micro Manipulation
    Robotica (IF 1.509) Pub Date : 2020-05-19
    Emre Uzunoğlu; Enver Tatlicioğlu; Mehmet İ. Can Dede

    In this study, a control algorithm is proposed and evaluated for a special type of kinematically redundant manipulator. This manipulator is comprised of two mechanisms, macro and micro mechanisms, with distinct acceleration and work space characteristics. A control algorithm is devised to minimize the task completion duration and the overall actuator effort with respect to the conventional manipulator

    更新日期:2020-05-19
  • Improved Motion Planning of Humanoid Robots Using Bacterial Foraging Optimization
    Robotica (IF 1.509) Pub Date : 2020-05-07
    Manoj Kumar Muni; Dayal R. Parhi; Priyadarshi Biplab Kumar

    This paper emphasizes on Bacterial Foraging Optimization Algorithm for effective and efficient navigation of humanoid NAO, which uses the foraging quality of bacteria Escherichia coli for getting shortest path between two locations in minimum time. The Gaussian cost function assigned to both attractant and repellent profile of bacterium performs a major role in obtaining the best path between any two

    更新日期:2020-05-07
  • Development of a New Multi-cavity Pneumatic-driven Earthworm-like Soft Robot
    Robotica (IF 1.509) Pub Date : 2020-05-06
    Zhijie Tang; Jiaqi Lu; Zhen Wang; Gaoqian Ma; Weiwei Chen; Hao Feng

    This paper presents a soft robot which can imitate the crawling locomotion of an earthworm. Locomotion of the robot can be achieved by expanding and contracting the body that is made of flexible material. A link of the earthworm-like robot is combined with three modules, and a multi-cavity earthworm-like soft robot is combined with multiple links. The multiple links of the earthworm-like soft robot

    更新日期:2020-05-06
  • Static Characteristic Analysis of Spatial (Non-Planar) Links in Planar Parallel Manipulator
    Robotica (IF 1.509) Pub Date : 2020-05-06
    M. Ganesh; Anjan Kumar Dash; P. Venkitachalam; S. Shrinithi

    Conventional planar manipulators have their links in a single plane. Increasing payload at the end effector/mobile platform can induce high stress in the links due to the cantilever nature of links. Thus, it limits the total vertical load that can be applied on the mobile platform. In contrast to the links in conventional planar parallel mechanisms, non-planar links are proposed in this paper, that

    更新日期:2020-05-06
  • Autonomous Social Robot Navigation using a Behavioral Finite State Social Machine
    Robotica (IF 1.509) Pub Date : 2020-05-05
    Vaibhav Malviya; Arun Kumar Reddy; Rahul Kala

    We present a robot navigation system based on Behavioral Finite State Social Machine. The paper makes a robot operate as a social tour guide that adapts its navigation based on the behavior of the visitors. The problem of a robot leading a human group with a limited field-of-view vision is relatively untouched in the literature. Uncertainties arise when the visitors are not visible, wherein the behavior

    更新日期:2020-05-05
  • Control Policies for a Large Region of Attraction for Dynamically Balancing Legged Robots: A Sampling-Based Approach
    Robotica (IF 1.509) Pub Date : 2020-05-05
    Pranav A. Bhounsule; Ali Zamani; Jeremy Krause; Steven Farra; Jason Pusey

    The popular approach of assuming a control policy and then finding the largest region of attraction (ROA) (e.g., sum-of-squares optimization) may lead to conservative estimates of the ROA, especially for highly nonlinear systems. We present a sampling-based approach that starts by assuming an ROA and then finds the necessary control policy by performing trajectory optimization on sampled initial conditions

    更新日期:2020-05-05
  • A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators
    Robotica (IF 1.509) Pub Date : 2020-05-05
    Esmail Ali Alandoli; T. S. Lee

    There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the

    更新日期:2020-05-05
  • Influence of CNT-based Nanocomposites in Dynamic Performance of Redundant Articulated Robot
    Robotica (IF 1.509) Pub Date : 2020-04-30
    M. Saravana Mohan; P. S. Samuel Ratna Kumar

    In this study, AA5083-reinforced multiwalled carbon nanotubes (MWCNT) nanocomposites were selected as the alternate material for a redundant articulated robot (RAR) design by varying the composition of MWCNT wt%. By assigning AA5083-reinforced MWCNT as a custom material to the parts of RAR developed by Solid Works and exported to MATLAB/SimMechanics platform to convert the model into multi-body system

    更新日期:2020-04-30
  • Internal Model Control and Experimental Study of Ankle Rehabilitation Robot
    Robotica (IF 1.509) Pub Date : 2020-07-29
    Lan Wang; Ying Chang; Haitao Zhu

    In the present work, the ankle rehabilitation robot (ARR) dynamic model that implements a new series of connection control strategies is introduced. The dynamic models are presented in this regard. This model analyzes the robot LuGre friction model and the nonlinear disturbance model. To improve the ARR system’s rapidity and robustness, a composite 2-degree of freedom (2-DOF) internal model control

    更新日期:2020-04-24
  • Design of Automated Robotic System for Draping Prepreg Composite Fabrics
    Robotica (IF 1.509) Pub Date : 2020-04-24
    L.-P. Ellekilde; J. Wilm; O. W. Nielsen; C. Krogh; E. Kristiansen; G. G. Gunnarsson; T. S. Stenvang; J. Jakobsen; M. Kristiansen; J. A. Glud; M. Hannemose; H. Aanæs; J. de Kruijk; I. Sveidahl; A. Ikram; H. G. Petersen

    This paper presents a novel solution for precision draping of prepreg composite fabrics onto double curved molds. Our contributions relate to system design, including hardware and software components, and to system integration. On the hardware side, design and implementation of a drape tool with up to 120 suction cups positioned individually by linear actuators are described. On the software side,

    更新日期:2020-04-24
  • A Review of Dynamic Balancing for Robotic Mechanisms
    Robotica (IF 1.509) Pub Date : 2020-03-11
    Bin Wei; Dan Zhang

    The authors summarize the main dynamic balancing methods of robotic mechanisms in this paper. The majority of dynamic balancing methods have been presented, and there may be other dynamic balancing methods that are not included in this paper. Each of the balancing methods is reviewed and discussed. The advantages and disadvantages of each method are presented and compared. The goal of this paper is

    更新日期:2020-03-11
  • Stability Improvement of Segway Based on Tire Model Using the SEA
    Robotica (IF 1.509) Pub Date : 2020-02-28
    Haneul Yun; Hongyu Zhang; Jangmyung Lee

    This study proposes the use of a series elastic actuator (SEA) in a Segway to improve the stability of the tires during linear and curved driving, thus improving the comfort of the driver and ensuring driving stability. Recently, Segway has been developed continuously for intelligent mobile vehicles and the performance of Segway is being enhanced. Therefore, safety factors during the Segway driving

    更新日期:2020-02-28
  • Robust Motion Planning in Dynamic Environments Based on Sampled-Data Hamilton–Jacobi Reachability
    Robotica (IF 1.509) Pub Date : 2020-02-14
    Sébastien Kleff; Ning Li

    We propose a novel formal approach to robust motion planning (MP) in dynamic environments based on reachability analysis. While traditional MP methods usually fail to provide formal robust safety and performance guarantees, our approach provably ensures safe task achievement in time-varying and adversarial environments under parametric uncertainty. We leverage recent results on Hamilton–Jacobi (HJ)

    更新日期:2020-02-14
  • Comparison of Kane’s and Lagrange’s Methods in Analysis of Constrained Dynamical Systems
    Robotica (IF 1.509) Pub Date : 2020-02-10
    Amin Talaeizadeh; Mahmoodreza Forootan; Mehdi Zabihi; Hossein Nejat Pishkenari

    Dynamic modeling is a fundamental step in analyzing the movement of any mechanical system. Methods for dynamical modeling of constrained systems have been widely developed to improve the accuracy and minimize computational cost during simulations. The necessity to satisfy constraint equations as well as the equations of motion makes it more critical to use numerical techniques that are successful in

    更新日期:2020-02-10
  • Dynamic Manipulability Analysis of Multi-Arm Space Robot
    Robotica (IF 1.509) Pub Date : 2020-02-10
    Yiqun Zhou; Jianjun Luo; Mingming Wang

    The dynamic manipulability of a manipulator refers to the capacity to generate accelerations given the joint torques, which is an important indicator for motion planning and control. In this paper, the dynamic manipulability analysis is extended to the multi-arm space robot, and further to the closed-loop system composed of the space robot and the captured target. According to the dynamic equations

    更新日期:2020-02-10
  • Velocity Planning for Astronaut Virtual Training Robot with High-Order Dynamic Constraints
    Robotica (IF 1.509) Pub Date : 2020-02-10
    Lan Wang; Lingjie Lin; Ying Chang; Da Song

    In order to improve the training efficiency and establish a multi-person cooperative training simulation system, including “virtual human,” in the process of virtual reality-based astronaut training, it is necessary to plan the velocity at which astronauts carry the target object. A velocity planning algorithm, combining a traditional six-stage acceleration/deceleration algorithm, based on a time-discrete

    更新日期:2020-02-10
  • A Systematic Approach for Accuracy Design of Lower-Mobility Parallel Mechanism
    Robotica (IF 1.509) Pub Date : 2020-02-05
    Wenjie Tian; Ziqian Shen; Dongpo Lv; Fuwen Yin

    Geometric accuracy is a critical performance factor for parallel robots, and regardless of error compensation, accuracy design or tolerance allocation is another way to ensure the pose accuracy of a robot at design stage. A general method of both geometric error modeling and accuracy design of lower-mobility parallel mechanisms is presented. First, a general approach for error modeling of lower-mobility

    更新日期:2020-02-05
  • Toward an Intuitive and Iterative 6D Virtual Guide Programming Framework for Assisted Human–Robot Comanipulation
    Robotica (IF 1.509) Pub Date : 2020-02-03
    Susana Sánchez Restrepo; Gennaro Raiola; Joris Guerry; Evelyn D’Elia; Xavier Lamy; Daniel Sidobre

    In human–robot comanipulation, virtual guides are an important tool used to assist the human worker as they constrain the movement of the robot to improve the task accuracy and to avoid undesirable effects, such as collisions with the environment. Consequently, the physical effort and cognitive overload are reduced during accomplishment of comanipulative tasks. However, the construction of virtual

    更新日期:2020-02-03
  • Precise Stiffness and Elastic Deformations of Serial–Parallel Manipulators by Considering Inertial Wrench of Moving Links
    Robotica (IF 1.509) Pub Date : 2020-01-31
    Yi Lu; Zhuohong Dai; Yang Lu

    A general serial–parallel manipulator connected in series by two different parallel manipulators with linear active legs is constructed. Its precise stiffness and elastic deformations are studied systematically. Its unified precise stiffness and precise elastic deformation models are established by considering both the moving links inertial wrench and the dynamic active/constrained wrench. A 3SPR+3RPS-type

    更新日期:2020-01-31
  • A Robust Approach to Stabilization of 2-DOF Underactuated Mechanical Systems
    Robotica (IF 1.509) Pub Date : 2020-01-31
    Maryam Aminsafaee; Mohammad Hossein Shafiei

    This paper studies the stabilization problem for a class of underactuated systems in the presence of unknown disturbances. Due to less number of control inputs with respect to the degrees of freedom of the system, closed-loop asymptotic stability is a challenging issue in this field. In this paper, anti-swing controllers are designed for nominal and disturbed systems. In the case of the nominal system

    更新日期:2020-01-31
  • User–Robot Interaction for Safe Navigation of a Quadrotor
    Robotica (IF 1.509) Pub Date : 2020-01-29
    L. F. Sanchez; H. Abaunza; P. Castillo

    This paper introduces an intuitive and safe command approach for a quadrotor, where inertial and muscular gestures are used for semi-autonomous flight. A bracelet composed of gyroscopes, accelerometers, and electromyographic sensors is used to detect user gestures, then an algorithm is proposed to interpret the signals as flight commands. The main goal is to provide a wearable, easy-to-handle human–machine

    更新日期:2020-01-29
  • Dynamic Optimization of a Steerable Screw In-pipe Inspection Robot Using HJB and Turbine Installation
    Robotica (IF 1.509) Pub Date : 2020-01-16
    H. Tourajizadeh; V. Boomeri; M. Rezaei; A. Sedigh

    In this paper, two strategies are proposed to optimize the energy consumption of a new screw in-pipe inspection robot which is steerable. In the first method, optimization is performed using the optimal path planning and implementing the Hamilton–Jacobi–Bellman (HJB) method. Since the number of actuators is more than the number of degrees of freedom of the system for the proposed steerable case, it

    更新日期:2020-01-16
  • Modeling and Analysis of the Multiple Dynamic Coupling Effects of a Dual-arm Space Robotic System
    Robotica (IF 1.509) Pub Date : 2020-01-16
    Jianqing Peng; Wenfu Xu; Zhonghua Hu; Bin Liang; Aiguo Wu

    A dual-arm space robot has large potentials in on-orbit servicing. However, there exist multiple dynamic coupling effects between the two arms, each arm, and the base, bringing great challenges to the trajectory planning and dynamic control of the dual-arm space robotic system. In this paper, we propose a dynamic coupling modeling and analysis method for a dual-arm space robot. Firstly, according to

    更新日期:2020-01-16
  • Development of a Bio-inspired Wall-Climbing Robot Composed of Spine Wheels, Adhesive Belts and Eddy Suction Cup
    Robotica (IF 1.509) Pub Date : 2020-01-15
    Jinfu Liu; Linsen Xu; Shouqi Chen; Hong Xu; Gaoxin Cheng; Jiajun Xu

    A novel wall-climbing robot with multiple attachment modes is proposed. For uneven surfaces, the mechanical model of a spine wheel is brought out to grab the surfaces with its multi-spines. For smooth surfaces, an adhesive belt is obtained by the industrial synchronous belt and the polyurethane material to adhere to the surfaces. To avoid the robot overturning, an adsorption device with flexible skirt

    更新日期:2020-01-15
  • New Robust Control Method Applied to the Locomotion of a 5-Link Biped Robot
    Robotica (IF 1.509) Pub Date : 2020-01-15
    Mohammad Mehdi Kakaei; Hassan Salarieh

    This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot’s model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing

    更新日期:2020-01-15
  • A Novel Exoskeleton with Fractional Sliding Mode Control for Upper Limb Rehabilitation
    Robotica (IF 1.509) Pub Date : 2020-01-15
    Md Rasedul Islam; Mehran Rahmani; Mohammad Habibur Rahman

    The robotic intervention has great potential in the rehabilitation of post-stroke patients to regain their lost mobility. In this paper, firstly, we present a design of a novel, 7 degree-of-freedom (DOF) upper limb robotic exoskeleton (u-Rob) that features shoulder scapulohumeral rhythm with a wide range of motions (ROM) compared to other existing exoskeletons. An ergonomic shoulder mechanism with

    更新日期:2020-01-15
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