2023 December - 26 articles
Robotic systems are increasingly present in dynamic environments. This paper proposes a hierarchical control structure wherein a behavior tree (BT) is used to improve the flexibility and adaptability of an omni-directional mobile robot for point stab...
The rehabilitation process after the onset of a stroke primarily deals with assisting in regaining mobility, communication skills, swallowing function, and activities of daily living (ADLs). This entirely depends on the specific regions of the brain...
Human action recognition is a computer vision task that identifies how a person or a group acts on a video sequence. Various methods that rely on deep-learning techniques, such as two- or three-dimensional convolutional neural networks (2D-CNNs, 3D-C...
Today’s research on fenceless human–robot collaboration (HRC) is challenged by a relatively slow development of safety features. Simultaneously, design recommendations for HRC are requested by the industry. To simulate HRC scenarios in ad...
This work proposes a Learning by Demonstration framework based on Dynamic Movement Primitives (DMPs) that could be effectively adopted to plan complex activities in robotics such as the ones to be performed in agricultural domains and avoid orientati...
In this paper, a Cable-Driven Parallel Robot developed to automate repetitive and essential tasks in crop production in greenhouse and urban garden environments is introduced. The robot has a suspended configuration with five degrees-of-freedom, comp...
Piecewise constant curvature soft actuators can generate various types of movements. These actuators can undergo extension, bending, rotation, twist, or a combination of these. Proprioceptive sensing provides the ability to track their movement or es...
Over the past few years, the industry has experienced significant growth, leading to what is now known as Industry 4.0. This advancement has been characterized by the automation of robots. Industries have embraced mobile robots to enhance efficiency...
Older individuals prefer to maintain their autonomy while maintaining social connection and engagement with their family, peers, and community. Though individuals can encounter barriers to these goals, socially assistive robots (SARs) hold the potent...
This research introduces a robust control design for multibody robot systems, incorporating sliding mode control (SMC) for robustness against uncertainties and disturbances. SMC achieves this through directing system states toward a predefined slidin...
Recently, the need to produce from soft materials or components in extra-large sizes has appeared, requiring special solutions that are affordable using industrial robots. Industrial robots are suitable for such tasks due to their flexibility, accura...
Many service robots have to operate in a variety of different Service Event Areas (SEAs). In the case of the waste collection robot MARBLE (Mobile Autonomous Robot for Litter Emptying) every SEA has characteristics like varying area and number of lit...
This article describes an approach for mobile robots to identify scenes in configurations of objects spread across dense environments. This identification is enabled by intertwining the robotic object search and the scene recognition on already detec...
This paper presents a new 3D map building technique using a combination of 2D SLAM and 3D objects that can be implemented on relatively low-cost hardware in real-time. Recently, 3D visualization of the real world became increasingly important. In rob...
This article describes the development of a flexible surgical stapler mechanism, which serves as a fundamental tool for laparoscopic rectal cancer surgery, addressing the challenges posed by difficult types of accessibility using conventional instrum...
Effective environmental perception is critical for autonomous driving; thus, the perception system requires collecting 3D information of the surrounding objects, such as their dimensions, locations, and orientation in space. Recently, deep learning h...
The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we stud...
In this work, the motion control of a robotic wheelchair to achieve safe and intelligent movement in an unknown scenario is proposed. The primary objective is to develop a comprehensive framework for a robotic wheelchair that combines a global path p...
Alleviating the burden on amputees in terms of high-level control of their prosthetic devices is an open research challenge. EMG-based intention detection presents some limitations due to movement artifacts, fatigue, and stability. The integration of...
Instantaneous Power Consumption (IPC) is relevant for understanding the autonomy and efficient energy usage of electric vehicles (EVs). However, effective vehicle management requires prior knowledge of whether they can complete a trajectory, necessit...
In this work, we have presented a soft encapsulating gripper for gentle grasps. This was enabled by a series of soft origami patterns, such as the Yoshimura pattern, which was directly printed on fabric. The proposed gripper features a deformable bod...
Traditional end-effector robots for arm rehabilitation are usually attached at the hand, primarily focusing on coordinated multi-joint training. Therapy at an individual joint level of the arm for severely impaired stroke survivors is not always poss...
Robotic grippers allow industrial robots to interact with the surrounding environment. However, control architectures of the grasping force are still rare in common industrial grippers. In this context, one or more sensors (e.g., force or torque sens...
The development of agricultural robots is an increasingly popular research field aiming at addressing the widespread labor shortages in the farming industry and the ever-increasing food production demands. In many cases, multiple cooperating robots c...
Due to the accelerated growth of the world’s population, food security and sustainable agricultural practices have become essential. The incorporation of Artificial Intelligence (AI)-enabled robotic systems in cultivation, especially in greenho...
Unmanned Aerial Vehicles (UAVs) are versatile, adapting hardware and software for research. They are vital for remote monitoring, especially in challenging settings such as volcano observation with limited access. In response, economical computer vis...
