2021 March - 51 articles
Typically, humans interact with a humanoid robot with apprehension. This lack of trust can seriously affect the effectiveness of a team of robots and humans. We can create effective interactions that generate trust by augmenting robots with an explan...
Fast and precise robot motion is needed in many industrial applications. Most industrial robot motion controllers allow externally commanded motion profiles, but the trajectory tracking performance is affected by the robot dynamics and joint servo co...
This paper describes the results of dynamic tests performed to study the robustness of a dynamics model of an industrial manipulator. The tests show that the joint friction changes during the robot operation. The variation can be identified in a doub...
Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynam...
Traditionally, advances in robotic technology have been in the manufacturing industry due to the need for collaborative robots. However, this is not the case in the service sectors, especially in the healthcare sector. The lack of emphasis put on the...
Advances in machine learning technologies in recent years have facilitated developments in autonomous robotic systems. Designing these autonomous systems typically requires manually specified models of the robotic system and world when using classica...
Since cobots are designed to be flexible, they are frequently repositioned to change the production line according to the needs; hence, their working area (user frame) needs to be often calibrated. Therefore, it is important to adopt a fast and intui...
Nowadays, the wire harness assembly process is still manually performed due to the process complexity and product variability (e.g., wires of different kind, size and length). The Wire cobots project, in which this work was conceived, aims at improvi...
Human–robot collaboration (HRC) provides the opportunity to enhance the physical abilities of severely and multiply disabled people thus allowing them to work in industrial workplaces on the primary labour market. In order to assist this target group...
Dynamic programming techniques have proven much more flexible than calculus of variations and other techniques in performing redundancy resolution through global optimization of performance indices. When the state and input spaces are discrete, and t...
Disabilities are a global issue due to the decrease in life quality and mobility of patients, especially people suffering from hand disabilities. This paper presents a review of active hand exoskeleton technologies, over the past decade, for rehabili...
This paper focuses on development of a high-speed, low-latency telemanipulated robot hand system, evaluation of the system, and demonstration of the system. The characteristics of the developed system are the followings: non-contact, high-speed 3D vi...
In this study, we proposed an advanced control system for tilting-ladle-type automatic pouring machines in the casting industry. Automatic pouring machines have been introduced recently to improve the working environment of the pouring process. In th...
Robotics is now facing the challenge of deploying newly developed devices into human environments, and for this process to be successful, societal acceptance and uptake of robots are crucial. Education is already playing a key role in raising awarene...
Unintentional vascular damage can result from a surgical instrument’s abrupt movements during minimally invasive surgery (laparoscopic or robotic). A novel real-time image processing algorithm based on local entropy is proposed that can detect abrupt...
The clearance of the revolute joint influences the accuracy of dynamic parameter identification. In order to address this problem, a method for dynamic parameter identification of an X–Y pointing mechanism while considering the clearance of the revol...
Developing an emergency procedure for cable-driven parallel robots is not a trivial process, since it is not possible to halt the end-effector by quickly braking the actuators as in rigid-link manipulators. For this reason, the cable robot recovery s...
In recent years, the increasing popularity of multi-vehicle missions has been accompanied by a growing interest in the development of control strategies to ensure safety in these scenarios. In this work, we propose a control framework for coordinatio...
The present paper concerns the synthesis of robot movement control systems in the cases of disturbances of natural position constraints, which are the result of surface susceptibility and inaccuracies in its description. The study contains the synthe...
Modern industry benefits from the automation capabilities and flexibility of robots. Consequently, the performance depends on the individual task, robot and trajectory, while application periods of several years lead to a significant impact of the us...
The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision...
For fast-moving robot systems, the fluctuating dynamic loads transmitted to the supporting frame can excite the base and cause noise, wear, and fatigue of mechanical components. By reducing the shaking force completely, the dynamic characteristics of...
Recent technological development has led to the invention of different designs of haptic devices, electromechanical devices that mediate communication between the user and the computer and allow users to manipulate objects in a virtual environment wh...
The inspection of legacy nuclear facilities to aid in decommissioning is a world wide issue. One of the challenges is the characterisation of pipe networks within them. This paper presents an autonomous control system for the navigation of these unkn...
Finding fast motion functions to get from an initial state (distance, velocity, acceleration) to a final one has been of interest for decades. For a solution to be practically relevant, restrictions on jerk, acceleration and velocity have to be taken...
With increasing global investment in offshore wind energy and rapid deployment of wind power technologies in deep water hazardous environments, the in-service inspection of wind turbines and their related infrastructure plays an important role in the...
The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficu...
In this paper, we present a novel method for visual-inertial odometry for land vehicles. Our technique is robust to unintended, but unavoidable bumps, encountered when an off-road land vehicle traverses over potholes, speed-bumps or general change in...
While social robots bring new opportunities for education, they also come with moral challenges. Therefore, there is a need for moral guidelines for the responsible implementation of these robots. When developing such guidelines, it is important to i...
Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial intelligence....
TORVEastro robot design is presented with a built prototype in LARM2 (Laboratory of Robot Mechatronics) for testing and characterizing its functionality for service in space stations. Several robot astronauts are designed with bulky human-like struct...
The capabilities of collaborative robotics have transcended the conventional abilities of decentralised robots as it provides benefits such as scalability, flexibility and robustness. Collaborative robots can operate safely in complex human environme...
Autism Spectrum Disorder is a developmental disorder that affects children from a very young age and is characterized by persistent deficits in social, communicational, and behavioral abilities. Since there is no cure for autism, domain experts focus...
Peer review is the driving force of journal development, and reviewers are gatekeepers who ensure that Robotics maintains its standards for the high quality of its published papers [...]
Multifunctional Robot On Topological Notions (MROTN) is a research program that has as one of its goals to develop qualitative algorithms that make navigation decisions. This article presents new research from MROTN that extends previous results by a...
In the design of educational robots, it appears to be undecided as to whether robots should show social behaviors and look human-like or whether such cues are insignificant for learning. We conducted an experiment with different designs of social rob...
The Agri_q is an electric unmanned ground vehicle specifically designed for precision agriculture applications. Since it is expected to traverse on unstructured terrain, especially uneven terrain, or to climb obstacles or slopes, an eight-wheeled loc...
In this research, the structural synthesis of lower-class robot manipulators with general constraint one is investigated. The number of constraints
Advances in unmanned aircraft systems (UAS) have paved the way for progressively higher levels of intelligence and autonomy, supporting new modes of operation, such as the one-to-many (OTM) concept, where a single human operator is responsible for mo...
Education is facing challenges to keep pace with the widespread introduction of robots and digital technologies in industry and everyday life. These challenges necessitate new approaches to impart students at all levels of education with the knowledg...
A statically balanced mechanism is designed as a potential solution for the positioning of surgical instruments. Its kinematics with five degrees of freedom that decouples linear and angular motions is proposed for that objective. The linear motion o...
Kinematic redundancy of manipulators is a well-understood topic, and various methods were developed for the redundancy resolution in order to solve the inverse kinematics problem, at least for serial manipulators. An important question, with high pra...
A novel modelling paradigm for online diagnostics and prognostics for autonomous systems is presented. A model for the autonomous system being diagnosed is designed using a logic-based formalism. The model supports the run-time ability to verify that...
Tele-examination based on robotic technologies is a promising solution to solve the current worsening shortage of physicians. Echocardiography is among the examinations that would benefit more from robotic solutions. However, most of the state-of-the...
Manufacturing processes in the shoe industry are still characterized to a large extent by human labour, especially in small and medium craft enterprises. Even when machinery is adopted to support manufacturing operations, in most cases an operator ha...
This paper deals with the design of an optimal cable-driven parallel robot (CDPR) for upper limb rehabilitation. The robot’s prescribed workspace is identified with the help of an occupational therapist based on three selected daily life activi...
The article describes observations from the online teaching of a robotics class during the COVID-19 pandemic caused by SARS-CoV-2, also known as the coronavirus. The changes in the course structure and in the provided material lead to an unexpected i...
In the last few decades, several approaches have been presented to accomplish tasks with robots or autonomous systems in a glovebox; nevertheless, in nuclear facilities, risky operations are still executed by humans that guarantee a high manipulation...
The application of robotics in construction is hindered by the site environment, which is unstructured and subject to change. At the same time, however, buildings and corresponding sites can be accurately described by Building Information Modeling (B...
A novel approach to generic (or generalized) robot programming and a novel simplified, block-based programming environment, called “Assembly”, are introduced. The approach leverages the newest graphical user interface automation tools and...
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