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Research on welding seam tracking algorithm for automatic welding process of X-shaped tip of concrete piles using laser distance sensor Robotica (IF 2.7) Pub Date : 2024-04-18 Cao Tri Huynh, Tri Cong Phung
The manufacturing of the X-shaped tip of prestressed centrifugal concrete piles is nowadays done half automatically by combining the manual worker and the automatic welding robot. To make this welding process full automatically, the welding seam tracking algorithm is considered. There are many types of sensors that can be used to detect the welding seam such as vision sensor, laser vision sensor, arc
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Multi-objective optimal trajectory planning for robot manipulator attention to end-effector path limitation Robotica (IF 2.7) Pub Date : 2024-04-17 Jintao Ye, Lina Hao, Hongtai Cheng
In the process of trajectory optimization for robot manipulator, the path that is generated may deviate from the intended path because of the adjustment of trajectory parameters, if there is limitation of end-effector path in Cartesian space for specific tasks, this phenomenon is dangerous. This paper proposes a methodology that is based on the Pareto front to address this issue, and the methodology
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Multibody dynamics in robotics with focus on contact events Robotica (IF 2.7) Pub Date : 2024-04-16 Mariana Rodrigues da Silva, Joana Coelho, Fernando Gonçalves, Francisco Novais, Paulo Flores
Multibody dynamics methodologies have been fundamental tools utilized to model and simulate robotic systems that experience contact conditions with the surrounding environment, such as in the case of feet and ground interactions. In addressing such problems, it is of paramount importance to accurately and efficiently handle the large body displacement associated with locomotion of robots, as well as
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Frequency-dependent control for wind disturbance rejection of a fully actuated UAV Robotica (IF 2.7) Pub Date : 2024-04-15 Jérémie X. J. Bannwarth, Shahab Kazemi, Karl Stol
In this paper, an $\textrm{H}_{{\infty }}$ dynamic output feedback controller is experimentally implemented for the position regulation of a fully actuated tilted-rotor octocopter unmanned aerial vehicle (UAV) to improve wind disturbance rejection during station-keeping. To apply the lateral forces, besides the standard tilt-to-translate (attitude-thrust) movement, tilted-rotor UAVs can generate vectored
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Adaptive backstepping controller based on a novel framework for dynamic solution of an ankle rehabilitation spherical parallel robot Robotica (IF 2.7) Pub Date : 2024-04-12 Ali Ahmadi N, Ali Kamali Eigoli, Afshin Taghvaeipour
This research offers an adaptive model-based methodology for autonomous control of 3-RRR spherical parallel manipulator (RSPM) based on a novel modeling framework. RSPM is an overconstrained parallel mechanism that has a variety of applications in medical procedures such as ankle rehabilitation because of its precision and accuracy. However, obtaining a complete explicit dynamic model of these mechanisms
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Automatic extrinsic calibration for structured light camera and repetitive LiDARs Robotica (IF 2.7) Pub Date : 2024-04-11 Yangtao Ge, Chen Yao, Zirui Wang, Bangzhen Huang, Haoran Kang, Wentao Zhang, Zhenzhong Jia, Jing Wu
The integration of camera and LiDAR technologies has the potential to significantly enhance construction robots’ perception capabilities by providing complementary construction information. Structured light cameras (SLCs) are a desirable alternative as they provide comprehensive information on construction defects. However, fusing these two types of information depends largely on the sensors’ relative
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A modular computational framework for the dynamic analyses of cable-driven parallel robots with different types of actuation including the effects of inertia, elasticity and damping of cables Robotica (IF 2.7) Pub Date : 2024-04-11 Teja Krishna Mamidi, Sandipan Bandyopadhyay
Dynamic simulations of the cable-driven parallel robots (CDPRs) with cable models closer to reality can predict the motions of moving platforms more accurately than those with idealisations. Hence, the present work proposes an efficient and modular computational framework for this purpose. The primary focus is on the developments required in the context of CDPRs actuated by moving the exit points of
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Micro-hexapod robot with an origami-like SU-8-coated rigid frame Robotica (IF 2.7) Pub Date : 2024-04-02 Kenjiro Sugimoto, Sumito Nagasawa
In recent years, many microrobots have been developed for search applications using swarms in places where humans cannot enter, such as disaster sites. Hexapod robots are suitable for moving over uneven terrain. In order to use micro-hexapod robots for swarm exploration, it is necessary to reduce the robot’s size while maintaining its rigidity. Herein, we propose a micro-hexapod with an SU-8 rigid
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Performance evaluation and dimensional optimization design of planar 6R redundant actuation parallel mechanism Robotica (IF 2.7) Pub Date : 2024-03-27 Ming Han, Jiajin Che, Jinyue Liu, Dong Yang
Aiming at the problems of small good workspace, many singular configurations, and limited carrying capacity of non-redundant parallel mechanisms, a full-redundant drive parallel mechanism is designed and developed, and its performance evaluation, good workspace identification, and scale optimization design are studied. First, the kinematics analysis of the planar 6R parallel mechanism is completed
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Symbolic position analysis for three 6-DOF parallel mechanisms and new insight Robotica (IF 2.7) Pub Date : 2024-03-27 Zhongqiu Du, Ju Li, Qingmei Meng, Pengda Ye, Huiping Shen
The authors‘ previous research has demonstrated that parallel mechanisms (PMs) with hybrid branch chains (i.e., branch chains containing planar or spatial loops) can possess symbolic forward position (SFP) solutions and motion decoupling (MD). In order to further study the conditions of a three-chain six degrees of freedom (DOF) parallel mechanism with SFP and MD, this paper proposes one 6-DOF branch
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A trocar puncture robot for assisting venipuncture blood collection Robotica (IF 2.7) Pub Date : 2024-03-27 Zhikang Yang, Shikun Wen, Qian Qi, Zhuhai Lv, Aihong Ji
The venous blood test is a prevalent auxiliary medical diagnostic method. Venous blood collection equipment can improve blood collection’s success rate and stability, reduce the workload of medical staff, and improve the efficiency of diagnosis and treatment. This study proposed a rigid-flexible composite puncture (RFCP) strategy, based on which a small 7-degree-of-freedom (DOF) auxiliary venipuncture
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Inverse dynamics analysis of a 6-RR-RP-RR parallel manipulator with offset universal joints Robotica (IF 2.7) Pub Date : 2024-03-26 Huze Huang, Hasiaoqier Han, Dawei Li, Zhenbang Xu, Qingwen Wu
This paper presents an algorithm for solving the inverse dynamics of a parallel manipulator (PM) with offset universal joints (RR–joints) via the Newton–Euler method. The PM with RR–joints increase the joint stiffness and enlarge the workspace but introduces additional joint parameters and constraint torques, rendering the dynamics more complex. Unlike existing studies on PMs with RR–joints, which
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Multi-objective optimization approach for coverage path planning of mobile robot Robotica (IF 2.7) Pub Date : 2024-03-25 Monex Sharma, Hari Kumar Voruganti
Coverage path planning (CPP) is a subfield of path planning problems in which free areas of a given domain must be visited by a robot at least once while avoiding obstacles. In some situations, the path may be optimized for one or more criteria such as total distance traveled, number of turns, and total area covered by the robot. Accordingly, the CPP problem has been formulated as a multi-objective
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Structure design and kinematic performance of the deployable translational parallel tape-spring manipulator Robotica (IF 2.7) Pub Date : 2024-03-22 Hu Liu, Yawen Qin, Yi Yang
A deployable manipulator has the characteristics of a small installation space and a large workspace, which has great application prospects in small unmanned platforms. Most existing deployable manipulators are designed based on rigid links, whose complexity and mass inevitably increase sharply with increasing numbers of rigid links and joints. Inspired by the remarkable properties of tape springs
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An improved iterative approach with a comprehensive friction model for identifying dynamic parameters of collaborative robots Robotica (IF 2.7) Pub Date : 2024-03-20 Zeyu Li, Hongxing Wei, Chengguo Liu, Ye He, Gang Liu, Haochen Zhang, Weiming Li
Collaborative robots are becoming intelligent assistants of human in industrial settings and daily lives. Dynamic model identification is an active topic for collaborative robots because it can provide effective ways to achieve precise control, fast collision detection and smooth lead-through programming. In this research, an improved iterative approach with a comprehensive friction model for dynamic
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Robotics goes PRISMA Robotica (IF 2.7) Pub Date : 2024-03-20 Mario Selvaggio, Rocco Moccia, Pierluigi Arpenti, Riccardo Caccavale, Fabio Ruggiero, Jonathan Cacace, Fanny Ficuciello, Alberto Finzi, Vincenzo Lippiello, Luigi Villani, Bruno Siciliano
In this article, we review the main results achieved by the research activities carried out at PRISMA Lab of the University of Naples Federico II where, for 35 years, an interdisciplinary team of experts developed robots that are ultimately useful to humans. We summarize the key contributions made in the last decade in the six research areas of dynamic manipulation and locomotion, aerial robotics,
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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