2021 December - 26 articles
Tracking patient progress through a course of robotic tele-rehabilitation requires constant position data logging and comparison, alongside periodic testing with no powered assistance. The test data must be compared with previous test attempts and an...
Omnidirectional planar robots are common these days due to their high mobility, for example in human–robot interactions. The motion of such mechanisms is based on specially designed wheels, which may vary when different terrains are considered....
Several industrial robotic applications that require high speed or high stiffness-to-inertia ratios use parallel kinematic robots. In the cases where the critical point of the application is the speed, the compliance of the main mechanical transmissi...
Recently, several deep-learning based navigation methods have been achieved because of a high quality dataset collected from high-quality simulated environments. However, the cost of creating high-quality simulated environments is high. In this paper...
The leap motion controller is a commercial low-cost marker-less optical sensor that can track the motion of a human hand by recording various parameters. Upper limb rehabilitation therapy is the treatment of people having upper limb impairments, whos...
The application of force in surgical settings is typically accomplished via physical tethers to the surgical tool. While physical tethers are common and critical, some internal surgical procedures may benefit from a tetherless operation of needles, p...
Robotics is an interdisciplinary field and there exist several well-known approaches to represent the dynamics model of a robot arm. The robot arm is an open kinematic chain of links connected through rotational and translational joints. In the gener...
This work is aimed to demonstrate a multi-objective joint trajectory generation algorithm for a 7 degree of freedom (DoF) robotic manipulator using swarm intelligence (SI)—product of exponentials (PoE) combination. Given a priori knowledge of t...
This paper describes the development and experimental validation of algorithms for a novel laser vision system (LVS), suitable for measuring the relative posture from both solid and mesh-like targets in underwater environments. The system was develop...
Autonomous robots are playing an important role to solve the Simultaneous Localization and Mapping (SLAM) problem in different domains. To generate flexible, intelligent, and interoperable solutions for SLAM, it is a must to model the complex knowled...
In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established seria...
Safe operation, energy efficiency, versatility and kinematic compatibility are the most important aspects in the design of rehabilitation exoskeletons. This paper focuses on the conceptual bio-inspired mechanical design and equilibrium point control...
In this paper, we study the “Multi-Robot Routing problem” with min–max objective (MRR-MM) in detail. It involves the assignment of sequentially ordered tasks to robots such that the maximum cost of the slowest robot is minimized. The problem descript...
The increasing presence of additive manufacturing (AM) in the space sector prompted us to investigate the feasibility of a single degree of freedom (DoF) pointing system (PS) made by means of a compound planetary gear train system (C-PGTS) integratin...
Personalization and localization are important when developing social robots for different sectors, including education, industry, healthcare or restaurants. This allows for an adjustment of robot behaviors according to the needs, preferences or pers...
A novel, semi-autonomous radiological scanning system for inspecting irregularly shaped and radiologically uncharacterised objects in various orientations is presented. The system utilises relatively low cost, commercial-off-the-shelf (COTS) electron...
Nowadays, origami folding in combination with actuation mechanisms can offer deployable structure design, yield compliance, and have several properties of soft material. An easy complex folding pattern can yield an array of functionalities in actuate...
In this study, a novel design for a compact, lightweight, agile, omnidirectional three-legged robot involving legs with four degrees of freedom, utilizing an spherical parallel mechanism with an additional non-redundant central support joint for the...
In this paper, we present a mixed-initiative motion control strategy for multiple quadrotor aerial vehicles. The proposed approach incorporates formation specifications and motion-planning commands as well as inputs by a human operator. More specific...
This paper presents the design, modeling, analysis, and experimental results of a novel bipedal robotic system that utilizes two interconnected single degree-of-freedom (DOF) leg mechanisms to produce stable forward locomotion and steering. The singl...
This paper presents an inverse kinematic controller using neural networks for trajectory controlling of a delta robot in real-time. The developed control scheme is purely data-driven and does not require prior knowledge of the delta robot kinematics....
Catching flying objects is a challenging task in human–robot interaction. Traditional techniques predict the intersection position and time using the information obtained during the free-flying ball motion. A common pain point in these systems is the...
Dealing safely with nuclear waste is an imperative for the nuclear industry. Increasingly, robots are being developed to carry out complex tasks such as perceiving, grasping, cutting, and manipulating waste. Radioactive material can be sorted, and ei...
Currently, a large number of investigations are being carried out in the area of robotics focused on proposing solutions in the field of health, and many of them have directed their efforts on issues related to the health emergency due to COVID-19. C...
Grocery shoppers must negotiate cluttered, crowded, and complex store layouts containing a vast variety of products to make their intended purchases. This complexity may prevent even experienced shoppers from finding their grocery items, consuming a...
Developing a dexterous robotic hand that mimics natural human hand movements is challenging due to complicated hand anatomy. Such a practical design should address several requirements, which are often conflicting and force the designer to prioritize...
