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An experimental evaluation of robot-stopping approaches for improving fluency in collaborative robotics Robotica (IF 2.7) Pub Date : 2024-03-15 Lorenzo Scalera, Federico Lozer, Andrea Giusti, Alessandro Gasparetto
This paper explores and experimentally compares the effectiveness of robot-stopping approaches based on the speed and separation monitoring for improving fluency in collaborative robotics. In the compared approaches, a supervisory controller checks the distance between the bounding volumes enclosing human operator and robot and prevents potential collisions by determining the robot’s stop time and
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Heavy-duty hexapod robot sideline tipping judgment and recovery Robotica (IF 2.7) Pub Date : 2024-03-15 Lianzhao Zhang, Fusheng Zha, Wei Guo, Chen Chen, Lining Sun, Pengfei Wang
Heavy-duty hexapod robots are well-suited for physical transportation, disaster relief, and resource exploration. The immense locomotion capabilities conferred by the six appendages of these systems enable traversal over unstructured and challenging terrain. However, tipping can be a serious concern when moving with a tripod gait in these challenging environments, which may cause irreversible consequences
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Wireless vision-based digital media fixed-point DSP processor depending robots for natural calamities Robotica (IF 2.7) Pub Date : 2024-03-15 S. Mary Joans, N. Gomathi, P. Ponsudha
Natural calamities are affecting many parts of the world. Natural disasters, terrorist attacks, earthquakes, wildfires, floods and all unpredicted phenomena. Disasters cause emergency conditions, so imperative to coordinate the prompt delivery of essential services to the sufferers. Often, disasters lead many people to perish by becoming trapped inside, but many more also perish as a result of individuals
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Insights into the deployment of a social robot-augmented telepresence robot in an elder care clinic – perspectives from patients and therapists: a pilot study Robotica (IF 2.7) Pub Date : 2024-03-14 Michael J. Sobrepera, Anh T. Nguyen, Emily S. Gavin, Michelle J. Johnson
As the proportion of the elderly population in the USA expands, so will the demand for rehabilitation and social care, which play an important role in maintaining function and mediating motor and cognitive decline in older adults. The use of social robotics and telemedicine are each potential solutions but each have limitations. To address challenges with classical telemedicine for rehabilitation,
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Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system Robotica (IF 2.7) Pub Date : 2024-03-14 Jianghong Sun, Fuqing Hu, Keke Gao, Feng Gao, Chao Ma, Junjian Wang
In view of the fact that the current research on active and passive rehabilitation training of lower limbs is mainly based on the analysis of exoskeleton prototype and the lack of analysis of the actual movement law of limbs, the human-machine coupling dynamic characteristics for active rehabilitation training of lower limbs are studied. In this paper, the forward and inverse kinematics are solved
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Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots Robotica (IF 2.7) Pub Date : 2024-03-07 Le Anh Tuan, Quang Phuc Ha
Closed-loop kinematics of a dual-arm robot (DAR) often induces motion conflict. Control formulation is increasingly difficult in face of actuator failures. This article presents a new approach for fault-tolerant control of DARs based on advanced sliding mode control. A comprehensive fractional-order model is proposed taking nonlinear viscous and viscoelastic friction at the joints into account. Using
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Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot Robotica (IF 2.7) Pub Date : 2024-03-07 Zhujin Jiang, Ketao Zhang
This paper systematically investigates a soft-rigid hybrid pneumatic actuator (SRHPA), which consists of a rigid-foldable twisting skeleton capable of a large range of helical motion and a soft bellows muscle with high linear driving force. Considering the unique varying-pitch helical motion of the foldable skeleton, the analytical model mapping the input force generated by the bellows muscle and output
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Collision-free path planning for cable-driven continuum robot based on improved artificial potential field Robotica (IF 2.7) Pub Date : 2024-03-05 Meng Ding, Xianjie Zheng, Liaoxue Liu, Jian Guo, Yu Guo
Continuum robot has become a research hotspot due to its excellent dexterity, flexibility and applicability to constrained environments. However, the effective, secure and accurate path planning for the continuum robot remains a challenging issue, for that it is difficult to choose a suitable inverse kinematics solution due to its redundancy in the confined environment. This paper presents a collision-free
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A novel tactile sensor with multimodal vision and tactile units for multifunctional robot interaction Robotica (IF 2.7) Pub Date : 2024-03-05 Pengwen Xiong, Yuxuan Huang, Yifan Yin, Yu Zhang, Aiguo Song
Robots with multi-sensors always have a problem of weak pairing among different modals of the collected information produced by multi-sensors, which leads to a bad perception performance during robot interaction. To solve this problem, this paper proposes a Force Vision Sight (FVSight) sensor, which utilizes a distributed flexible tactile sensing array integrated with a vision unit. This innovative
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Computer-aided design tool for typical flexible mechanisms synthesis by means of evolutionary algorithms Robotica (IF 2.7) Pub Date : 2024-03-04 Mohamed Amine Ben Abdallah, Imed Khemili, Nizar Aifaoui, Med Amine Laribi
Accurate prediction for mechanisms’ dynamic responses has always been a challenging task for designers. For modeling easiness purposes, mechanisms’ synthesis and optimization have been mostly limited to rigid systems, making consequently the designer unable to vow that the manufactured mechanism satisfies the target responses. To address this limitation, flexible mechanism synthesis is aimed in this
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Design and motion mechanism analysis of screw-driven in-pipe inspection robot based on novel adapting mechanism Robotica (IF 2.7) Pub Date : 2024-03-04 Jihua Yin, Xuemei Liu, Youqiang Wang, Yucheng Wang
In the pipeline industry, it is often necessary to monitor cracks and damage in pipelines, or need to clean the inside of the pipeline regularly, or collect adhesive on the inner wall of the pipe, but the pipe is too narrow and difficult for humans to enter, it is necessary to use a pipe machine to complete the work. In this paper, a newly designed screw-driven in-pipe inspection robot (IPIR) is proposed
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FabricFolding: learning efficient fabric folding without expert demonstrations Robotica (IF 2.7) Pub Date : 2024-03-04 Can He, Lingxiao Meng, Zhirui Sun, Jiankun Wang, Max Q.-H. Meng
Autonomous fabric manipulation is a challenging task due to complex dynamics and potential self-occlusion during fabric handling. An intuitive method of fabric-folding manipulation first involves obtaining a smooth and unfolded fabric configuration before the folding process begins. However, the combination of quasi-static actions like pick & place and dynamic action like fling proves inadequate in
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Outdoor LiDAR-inertial SLAM using ground constraints Robotica (IF 2.7) Pub Date : 2024-02-26 Yating Hu, Qigao Zhou, Zhejun Miao, Hang Yuan, Shuang Liu
The current LiDAR-inertial odometry is prone to cumulative Z-axis error when it runs for a long time. This error can easily lead to the failure to detect the loop-closing in the correct scenario. In this paper, a ground-constrained LiDAR-inertial SLAM is proposed to solve this problem. Reasonable constraints on the ground motion of the mobile robot are incorporated to limit the Z-axis drift error.
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Safe and socially compliant robot navigation in crowds with fast-moving pedestrians via deep reinforcement learning Robotica (IF 2.7) Pub Date : 2024-02-26 Zhen Feng, Bingxin Xue, Chaoqun Wang, Fengyu Zhou
Safe and socially compliant navigation in a crowded environment is essential for social robots. Numerous research efforts have shown the advantages of deep reinforcement learning techniques in training efficient policies, while most of them ignore fast-moving pedestrians in the crowd. In this paper, we present a novel design of safety measure, named Risk-Area, considering collision theory and motion
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Vision-based food handling system for high-resemblance random food items Robotica (IF 2.7) Pub Date : 2024-02-21 Yadan Zeng, Yee Seng Teoh, Guoniu Zhu, Elvin Toh, I-Ming Chen
The rise in the number of automated robotic kitchens accelerated the need for advanced food handling system, emphasizing food analysis including ingredient classification pose recognition and assembling strategy. Selecting the optimal piece from a pile of similarly shaped food items is a challenge to automated meal assembling system. To address this, we present a constructive assembling algorithm,
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Oscillation-free point-to-point motions of planar differentially flat under-actuated robots: a Laplace transform method Robotica (IF 2.7) Pub Date : 2024-02-20 Michele Tonan, Alberto Doria, Matteo Bottin, Giulio Rosati
Differentially flat under-actuated robots are characterized by more degrees of freedom (DOF) than actuators: this makes possible the design of lightweight cheap robots with high dexterity. The main issue of such robots is the control of the passive joint, which requires accurate dynamic modeling of the robot. Friction is usually discarded to simplify the models, especially in the case of low-speed
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End-to-end deep learning-based framework for path planning and collision checking: bin-picking application Robotica (IF 2.7) Pub Date : 2024-02-13 Mehran Ghafarian Tamizi, Homayoun Honari, Aleksey Nozdryn-Plotnicki, Homayoun Najjaran
Real-time and efficient path planning is critical for all robotic systems. In particular, it is of greater importance for industrial robots since the overall planning and execution time directly impact the cycle time and automation economics in production lines. While the problem may not be complex in static environments, classical approaches are inefficient in high-dimensional environments in terms
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Reinforcement learning-based motion control for snake robots in complex environments Robotica (IF 2.7) Pub Date : 2024-02-12 Dong Zhang, Renjie Ju, Zhengcai Cao
Snake robots can move flexibly due to their special bodies and gaits. However, it is difficult to plan their motion in multi-obstacle environments due to their complex models. To solve this problem, this work investigates a reinforcement learning-based motion planning method. To plan feasible paths, together with a modified deep Q-learning algorithm, a Floyd-moving average algorithm is proposed to
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IFE-net: improved feature enhancement network for weak feature target recognition in autonomous underwater vehicles Robotica (IF 2.7) Pub Date : 2024-02-08 Lei Cai, Bingyuan Zhang, Yuejun Li, Haojie Chai
The recognizing underwater targets is a crucial component of autonomous underwater vehicle patrols and detection efforts. In the process of visual image recognition in real underwater environment, the spatial and semantic features of the target often appear to different degrees of loss, and the scarcity of specific types of underwater samples leads to unbalanced data on categories. This kind of problem
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Design and analysis of a wall-climbing robot with passive compliant mechanisms to adapt variable curvatures walls Robotica (IF 2.7) Pub Date : 2024-02-05 Yifeng Song, Zhenyu Yang, Yong Chang, Hui Yuan, Song Lin
Motivated by practical applications of inspection and maintenance, we have developed a wall-climbing robot with passive compliant mechanisms that can autonomously adapt to curved surfaces. At first, this paper presents two failure modes of the traditional wall-climbing robot on the variable curvature wall surface and further introduces the designed passive compliant wall-climbing robot in detail. Then
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Design and control of a compliant robotic actuator with parallel spring-damping transmission Robotica (IF 2.7) Pub Date : 2024-02-05 Peikang Yuan, Jianbin Liu, David T. Branson, Zhibin Song, Shuai Wu, Jian S. Dai, Rongjie Kang
Physically compliant actuator brings significant benefits to robots in terms of environmental adaptability, human–robot interaction, and energy efficiency as the introduction of the inherent compliance. However, this inherent compliance also limits the force and position control performance of the actuator system due to the induced oscillations and decreased mechanical bandwidth. To solve this problem
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Panoramic visual system for spherical mobile robots Robotica (IF 2.7) Pub Date : 2024-02-05 Muhammad Affan Arif, Aibin Zhu, Han Mao, Yao Tu
Aimed at the challenges of wide-angle mobile robot visual perception for diverse field applications, we present the spherical robot visual system that uses a 360° field of view (FOV) for realizing real-time object detection. The spherical robot image acquisition system model is developed with optimal parameters, including camera spacing, camera axis angle, and the distance of the target image plane
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Path planning for robots in preform weaving based on learning from demonstration Robotica (IF 2.7) Pub Date : 2024-02-01 Zhuo Meng, Shuo Li, Yujing Zhang, Yize Sun
A collision-free path planning method is proposed based on learning from demonstration (LfD) to address the challenges of cumbersome manual teaching operations caused by complex action of yarn storage, variable mechanism positions, and limited workspace in preform weaving. First, by utilizing extreme learning machines (ELM) to autonomously learn the teaching data of yarn storage, the mapping relationship
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SLAMB&MAI: a comprehensive methodology for SLAM benchmark and map accuracy improvement Robotica (IF 2.7) Pub Date : 2024-01-30 Shengshu Liu, Erhui Sun, Xin Dong
SLAM Benchmark plays a pivotal role in the field by providing a common ground for performance evaluation. In this paper, a novel methodology of simultaneous localization and mapping benchmark and map accuracy improvement (SLAMB&MAI) is introduced. It can objectively evaluate errors of localization and mapping, and further improve map accuracy by utilizing evaluation results as feedback. The proposed
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Self-adaptive learning particle swarm optimization-based path planning of mobile robot using 2D Lidar environment Robotica (IF 2.7) Pub Date : 2024-01-26 Julius Fusic S., Sitharthan R.
The loading and unloading operations of smart logistic application robots depend largely on their perception system. However, there is a paucity of study on the evaluation of Lidar maps and their SLAM algorithms in complex environment navigation system. In the proposed work, the Lidar information is finetuned using binary occupancy grid approach and implemented Improved Self-Adaptive Learning Particle
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An improved fuzzy inference strategy using reinforcement learning for trajectory-tracking of a mobile robot under a varying slip ratio Robotica (IF 2.7) Pub Date : 2024-01-25 Muhammad Qomaruz Zaman, Hsiu-Ming Wu
In this study, a fuzzy reinforcement learning control (FRLC) is proposed to achieve trajectory tracking of a differential drive mobile robot (DDMR). The proposed FRLC approach designs fuzzy membership functions to fuzzify the relative position and heading between the current position and a prescribed trajectory. Instead of fuzzy inference rules, the relationship between the fuzzy inputs and actuator
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Design, simulation, control of a hybrid pouring robot: enhancing automation level in the foundry industry Robotica (IF 2.7) Pub Date : 2024-01-25 Wang Chengjun, Duan Hao, Li Long
Currently, workers in sand casting face harsh environments and the operation safety is poor. Existing pouring robots have insufficient stability and load-bearing capacity and cannot perform intelligent pouring according to the demand of pouring process. In this paper, a hybrid pouring robot is proposed to solve these limitations, and a vision-based hardware-in-the-loop (HIL) control technology is designed
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A review of bioinspired locomotion in lower GI endoscopy Robotica (IF 2.7) Pub Date : 2024-01-25 Jabed F. Ahmed, Enrico Franco, Ferdinando Rodriguez Y. Baena, Ara Darzi, Nisha Patel
Flexible endoscopy is the gold standard modality for diagnosis and therapeutic intervention of various colorectal conditions. A high bar is currently set for any new technology to replace the current modern colonoscope, but limitations do exist. For a robotic system to gain acceptance, ideally a clear advantage over the established standard needs to be demonstrated. The application of robotic technology
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A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains Robotica (IF 2.7) Pub Date : 2024-01-24 Shipeng Lyu, Wenyao Zhang, Chen Yao, Zhengtao Liu, Yang Su, Zheng Zhu, Zhenzhong Jia
In this paper, we consider the problem of contact parameters (slippage and sinkage) estimation for multi-modal robot locomotion on granular terrains. To describe the contact events in the same framework for robots operated at different modes (e.g., wheel, leg), we propose a unified description of contact parameters for multi-modal robots. We also provide a parameter estimation method for multi-modal
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One-shot sim-to-real transfer policy for robotic assembly via reinforcement learning with visual demonstration Robotica (IF 2.7) Pub Date : 2024-01-24 Ruihong Xiao, Chenguang Yang, Yiming Jiang, Hui Zhang
Reinforcement learning (RL) has been successfully applied to a wealth of robot manipulation tasks and continuous control problems. However, it is still limited to industrial applications and suffers from three major challenges: sample inefficiency, real data collection, and the gap between simulator and reality. In this paper, we focus on the practical application of RL for robot assembly in the real
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Image-based anti-interference robotic Chinese character writing system Robotica (IF 2.7) Pub Date : 2024-01-22 Xian Li, Chenguang Yang, Sheng Xu, Yongsheng Ou
This article designs a robotic Chinese character writing system that can resist random human interference. Firstly, an innovative stroke extraction method of Chinese characters was devised. A basic Chinese character stroke extraction method based on cumulative direction vectors is used to extract the components that make up the strokes of Chinese characters. The components are then stitched together
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Solving the inverse kinematics problem of discretely actuated hyper-redundant manipulators using the multi-module searching method Robotica (IF 2.7) Pub Date : 2024-01-22 Alireza Motahari
Hyper-redundant manipulators are produced by cascading several mechanisms on top of each other as modules. The discrete actuation makes their control easier because discrete actuators usually do not need any feedback to control. So far, several methods have been proposed to solve the inverse kinematic problem of discretely actuated, hyper-redundant manipulators. The two-by-two searching method is better
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Enhancement of humanoid robot locomotion on slippery floors using an adaptive controller Robotica (IF 2.7) Pub Date : 2024-01-17 Luís Almeida, Vítor Santos, João Ferreira
This paper presents a comprehensive strategy to improve the locomotion performance of humanoid robots on various slippery floors. The strategy involves the implementation and adaptation of a divergent component of motion (DCM) based control architecture for the humanoid NAO, and the introduction of an embedded yaw controller (EYC), which is based on a proportional-integral-derivative (PID) control
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Active learning of the collision distance function for high-DOF multi-arm robot systems Robotica (IF 2.7) Pub Date : 2024-01-12 Jihwan Kim, Frank Chongwoo Park
Motion planning for high-DOF multi-arm systems operating in complex environments remains a challenging problem, with many motion planning algorithms requiring evaluation of the minimum collision distance and its derivative. Because of the computational complexity of calculating the collision distance, recent methods have attempted to leverage data-driven machine learning methods to learn the collision
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Robust control and experimental validation of trajectory tracking for permanent magnet linear motors based on constraint-following under uncertainty Robotica (IF 2.7) Pub Date : 2024-01-11 Shengchao Zhen, Chenghui Huang, Xiaoli Liu, Ye-Hwa Chen
This paper proposes a robust control approach to achieve high-precision trajectory tracking for permanent magnet linear motor (PMLM) system containing uncertainties by describing the dynamic model of PMLM based on the Udwadia-Kalaba equation combined with constraint-following method. First, the system of PMLM is described as a constraint-following system by adding the generalized constraint force to
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Semantic geometric fusion multi-object tracking and lidar odometry in dynamic environment Robotica (IF 2.7) Pub Date : 2024-01-11 Tingchen Ma, Guolai Jiang, Yongsheng Ou, Sheng Xu
Simultaneous localization and mapping systems based on rigid scene assumptions cannot achieve reliable positioning and mapping in a complex environment with many moving objects. To solve this problem, this paper proposes a novel dynamic multi-object lidar odometry (MLO) system based on semantic object recognition technology. The proposed system enables the reliable localization of robots and semantic
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BA-LIOM: tightly coupled laser-inertial odometry and mapping with bundle adjustment Robotica (IF 2.7) Pub Date : 2024-01-04 Ruyi Li, Xuebo Zhang, Shiyong Zhang, Jing Yuan, Hui Liu, Songyang Wu
We design a scheme for laser-inertial odometry and mapping with bundle adjustment (BA-LIOM), which can greatly mitigate the problem of undesired ground warping due to sparsity of laser scans and significantly reduce odometry drift. Specifically, an Inertial measurement unit (IMU)-assisted adaptive voxel map initialization algorithm is proposed and elaborately integrated with the existing framework
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Collision avoidance trajectory planning for a dual-robot system: using a modified APF method Robotica (IF 2.7) Pub Date : 2024-01-04 Dong Yang, Li Dong, Jun Kang Dai
Dual-robot system has been widely applied to the field of handling and palletizing for its high efficiency and large workspace. It is one of the key problems of the trajectory planning to determine the collision avoidance method of the dual-robot system. In the present study, a collision avoidance trajectory planning method for the dual-robot system was proposed on the basis of a modified artificial
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Design, modeling, and control of a novel soft-rigid knee joint robot for assisting motion Robotica (IF 2.7) Pub Date : 2024-01-04 Yinan Li, Yuxuan Wang, Shaoke Yuan, Yanqiong Fei
This paper presents the design, modeling, and control of a novel soft-rigid knee joint robot (SR-KR) for assisting motion. SR-KR is proposed to assist patients with knee joint injuries conducting gait training and completing walking movements. SR-KR consists of a novel soft-rigid bidirectional curl actuator, a thigh clamping structure, and a crus clamping structure. The actuating part of SR-KR is composed
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Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm Robotica (IF 2.7) Pub Date : 2024-01-04 Xinpei Wang, Lingbo Xie, Mian Jiang, Kuanfang He, Yong Chen
Most of the currently available three-degree-of-freedom manipulators are light load and cannot achieve full continuous rotation; given this, we designed a heavy-load manipulator that achieves unrestricted and continuous rotation. Due to manufacturing and assembly errors, parameter deviations between the real manipulator and its underlying theoretical model were unavoidable. Because of the lack of high-precision
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Kinematics inverse solution of assembly robot based on improved particle swarm optimization Robotica (IF 2.7) Pub Date : 2024-01-04 Shixiong Zhang, Ang Li, Jianxin Ren, Ruilong Ren
Inverse kinematics of robot is the basis of robot assembly, which directly determines the pose of robot. Because the traditional inverse solution algorithm is limited by the robot topology structure, singular pose and inverse solution accuracy, it affects the use of robots. In order to solve the above problems, an improved particle swarm optimization (PSO) algorithm is proposed to solve the inverse
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A novel Human-Aware Navigation algorithm based on behavioral intention cognition Robotica (IF 2.7) Pub Date : 2024-01-04 Jiahao Li, Fuhai Zhang, Yili Fu
In order to ensure safe and comfortable human–robot navigation in close proximity, it is imperative for robots to possess the capability to understand human behavioral intention. With this objective in mind, this paper introduces a Human-Aware Navigation (HAN) algorithm. The HAN system combines insights from studies on human detection, social behavioral model, and behavior prediction, all while incorporating
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ShakingBot: dynamic manipulation for bagging Robotica (IF 2.7) Pub Date : 2024-01-04 Ningquan Gu, Zhizhong Zhang, Ruhan He, Lianqing Yu
Bag manipulation through robots is complex and challenging due to the deformability of the bag. Based on the dynamic manipulation strategy, we propose a new framework, ShakingBot, for the bagging tasks. ShakingBot utilizes a perception module to identify the key region of the plastic bag from arbitrary initial configurations. According to the segmentation, ShakingBot iteratively executes a novel set
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Tailoring the motion planning of humanoids in complex arena: a regression-firefly-based approach Robotica (IF 2.7) Pub Date : 2024-01-04 Chinmaya Sahu, Dayal R. Parhi, Manoj Kumar Muni, Saurabh Sameer Kamat
In the current investigation, a two-stage hybridization model has been used for the motion planning of humanoids in complex environmental conditions using regression analysis and the firefly algorithm. In the first step, sensory outputs are fed to the regression model, and an initial turning angle (ITA) is obtained. In the second step, the ITA is again fed as input to the firefly model along with other
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Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains Robotica (IF 2.7) Pub Date : 2023-12-27 Joana Coelho, Bruno Dias, Gil Lopes, Fernando Ribeiro, Paulo Flores
The adaptability of hexapods for various locomotion tasks, especially in rescue and exploration missions, drives their application. Unlike controlled environments, these robots need to navigate ever-changing terrains, where ground irregularities impact foothold positions and origin shifts in contact forces. This dynamic interaction leads to varying hexapod postures, affecting overall system stability
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FBi-RRT: a path planning algorithm for manipulators with heuristic node expansion Robotica (IF 2.7) Pub Date : 2023-12-27 Guangzhou Xiao, Lixian Zhang, Tong Wu, Yuejiang Han, Yihang Ding, Chengzhe Han
This paper is concerned with the problem of collision-free path planning for manipulators in multi-obstacle scenarios. Aiming at overcoming the deficiencies of existing algorithms in excessive time consumption and poor expansion quality, a path planning algorithm named Fast Bi-directional Rapidly-exploring Random Tree (FBi-RRT) with novel heuristic node expansion is proposed, which includes a selective-expansion
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Mechanism design and dynamic switching modal control of the wheel-legged separation quadruped robot Robotica (IF 2.7) Pub Date : 2023-12-22 Jiandong Cao, Jinzhu Zhang, Tao Wang, Jiahao Meng, Senlin Li, Miao Li
Currently, most wheel-legged robots need to complete the switching of the wheel-and-leg modal in a stationary state, and the existing algorithms of statically switching the wheel-leg modal cannot meet the control requirements of multimodal switching dynamically for robots. In this paper, to achieve efficient switching of the wheel-and-leg modal for a quadruped robot, the novel transformable mechanism
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A transformable wheel-spoke-paddle hybrid amphibious robot Robotica (IF 2.7) Pub Date : 2023-12-22 Yikai Ge, Feng Gao, Weixing Chen
The intricate water-land intermingled nature of wild environments necessitates robots to exhibit multimodal cross-domain mobility capabilities. This paper introduces a novel wheel-spoke-paddle hybrid amphibious robot (WSP-bot) that can operate on flat and rough terrains, water surfaces, and water-land transitional zones. The proposed robot relies on a propulsion mechanism called transformable wheel-spoke-paddle
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Force-based organization and control scheme for the non-prehensile cooperative transportation of objects Robotica (IF 2.7) Pub Date : 2023-12-18 Mario Rosenfelder, Henrik Ebel, Peter Eberhard
Over decades of robotics research, cooperative object transportation has been studied as a meaningful model problem for robotic networks because it possesses a variety of crucial challenges. Although these challenges are demanding, the cooperation of multiple robots has the potential to solve automation problems that are beyond the scope of an individual robot. So far, the model problem has mostly
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Fractional order inspired iterative adaptive control Robotica (IF 2.7) Pub Date : 2023-12-15 Bence Varga, József K. Tar, Richárd Horváth
Although several studies have revealed that fractional order controllers usually outperform conventional integer-order control solutions, fractional order controllers are not yet widely applied in industrial applications due to their complex mathematical background. In this paper, further improvements of a simple weighted sum feedback design are introduced that imitates the behavior of a fractional
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Kinematics and singularity analysis of a novel hybrid industrial manipulator Robotica (IF 2.7) Pub Date : 2023-12-14 Sadanand Modak, Rama Krishna K
This paper proposes a new type of hybrid manipulator that can be of extensive use in industries where translational motion is required while maintaining an arbitrary end-effector orientation. It consists of two serially connected parallel mechanisms, each having three degrees of freedom, of which the upper platform performs a pure translational motion with respect to the mid-platform. Closed-form forward
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Derivation of high-contracted topology graphs for the type synthesis of complex closed robotic mechanisms with more mechanical advantages Robotica (IF 2.7) Pub Date : 2023-12-12 Yang Lu, Yi Lu
Challenges/shortages of existing research: Both a topology graph TG and a contracted graph CG are the important tool for the type synthesis of mechanisms and have been studied. Let (b, t, q, p, h) be (binary, ternary, quaternary, pentagonal, hexagonal) link, respectively. Existing TG may include (b, t, q, p, h, …), and existing CG may include (t, q, p, h, …) and exclude b. Therefore, their derivation
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A variable stiffness robotic gripper based on parallel beam with vision-based force sensing for flexible grasping Robotica (IF 2.7) Pub Date : 2023-12-12 Jiaming Fu, Ziqing Yu, Qianyu Guo, Lianxi Zheng, Dongming Gan
The demand for flexible grasping of various objects by robotic hands in the industry is rapidly growing. To address this, we propose a novel variable stiffness gripper (VSG). The VSG design is based on a parallel-guided beam structure inserted by a slider from one end, allowing stiffness variation by changing the length of the parallel beams participating in the system. This design enables continuous
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Improved gray wolf optimization algorithm integrating A* algorithm for path planning of mobile charging robots Robotica (IF 2.7) Pub Date : 2023-12-06 Shangjunnan Liu, Shuhai Liu, Huaping Xiao
With the popularization of electric vehicles, early built parking lots cannot solve the charging problem of a large number of electric vehicles. Mobile charging robots have autonomous navigation and complete charging functions, which make up for this deficiency. However, there are static obstacles in the parking lot that are random and constantly changing their position, which requires a stable and
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A steerable robot walker driven by two actuators Robotica (IF 2.7) Pub Date : 2023-12-01 Jiaji Li, Chenhao Liu, Ken Nguyen, J. Michael McCarthy
This article describes a robot walker based on a new single degree-of-freedom six-bar leg mechanism that provides rectilinear, non-rotating, movement of the foot. The walker is statically stable and requires only two actuators, one for each side, to provide effective walking movement on a flat surface. We use Curvature Theory to design a four-bar linkage with a flat-sided coupler curve and then adds
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Hybrid impedance and admittance control for optimal robot–environment interaction Robotica (IF 2.7) Pub Date : 2023-11-30 Dexi Ye, Chenguang Yang, Yiming Jiang, Hui Zhang
Compliant interaction between robots and the environment is crucial for completing contact-rich tasks. However, obtaining and implementing optimal interaction behavior in complex unknown environments remains a challenge. This article develops a hybrid impedance and admittance control (HIAC) scheme for robots subjected to the second-order unknown environment. To obtain the second-order target impedance
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Obstacle avoidance path planning of 6-DOF robotic arm based on improved A* algorithm and artificial potential field method Robotica (IF 2.7) Pub Date : 2023-11-29 Xianxing Tang, Haibo Zhou, Tianying Xu
Most studies on path planning of robotic arm focus on obstacle avoidance at the end position of robotic arm, while ignoring the obstacle avoidance of robotic arm joint linkage, and the obstacle avoidance method has low flexibility and adaptability. This paper proposes a path obstacle avoidance algorithm for the overall 6-DOF robotic arm that is based on the improved A* algorithm and the artificial
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Online gait learning with Assist-As-Needed control strategy for post-stroke rehabilitation exoskeletons Robotica (IF 2.7) Pub Date : 2023-11-28 Chaobin Zou, Chao Zeng, Rui Huang, Zhinan Peng, Jianwei Zhang, Hong Cheng
Lower limb exoskeletons (LLEs) have demonstrated their potential in delivering quantified repetitive gait training for individuals afflicted with gait impairments. A critical concern in robotic gait training pertains to fostering active patient engagement, and a viable solution entails harnessing the patient’s intrinsic effort to govern the control of LLEs. To address these challenges, this study presents
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Interpretable long-term gait trajectory prediction based on Interpretable-Concatenation former Robotica (IF 2.7) Pub Date : 2023-11-20 Jie Yin, Meng Chen, Chongfeng Zhang, Tao Xue, Ming Zhang, Tao Zhang
Human gait trajectory prediction is a long-standing research topic in human–machine interaction. However, there are two shortcomings in the current gait trajectory prediction technology. The first shortcoming is that the neural network model of gait prediction only predicts dozens of future time frames of gait trajectory. The second shortcoming is that the gait prediction neural network model is uninterpretable
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End-effector path tracking of a 14 DOF Rover Manipulator System in CG-Space framework Robotica (IF 2.7) Pub Date : 2023-11-17 Shubhi Katiyar, Ashish Dutta
In order to resolve redundancy and path planning of a high DOF mobile manipulator using conventional approaches like Jacobian and a pseudoinverse method, researchers face the limitation of computational load and delay in response. If such kind of mobile manipulator is traversing the rough terrain, then conventional methods become too costly to implement due to the handling of redundant joints, obstacles