2022 February - 29 articles
This paper presents a complex trajectory evaluation framework with a high potential for use in many industrial applications. The framework focuses on the evaluation of robotic arm trajectories containing only robot states defined in joint space witho...
Future service robots mass-produced for practical applications may benefit from having personalities. To engineer robot personalities in significant quantities for practical applications, we need first to identify the personality dimensions on which...
This paper discusses the modeling and analysis of a high-speed adjustable grasping robot controlled by a pneumatic actuator. The robot is composed of two grippers, two wires for connecting a pneumatic cylinder and an arm with gripper joints with a sp...
This paper presents the kinematic and static analysis of two mechanisms to improve power throughput for persons with tetra- or paraplegia pedaling a performance tricycle via FES. FES, or functional electrical stimulation, activates muscles by passing...
This work proposes a novel solution for detecting and tracing spatially varying edges of large manufacturing workpieces, using a consumer grade RGB depth camera, with only a partial view of the workpiece and without prior knowledge. The proposed syst...
Simultaneous localization and mapping (SLAM) techniques are widely researched, since they allow the simultaneous creation of a map and the sensors’ pose estimation in an unknown environment. Visual-based SLAM techniques play a significant role...
This paper introduces a new Hyperloop transportation system’s design and implementation. The main contribution of this paper is the design and integration of propulsion components for a linear motion system, with battery storage. The proposed H...
Miconia is a highly invasive plant species with incipient plants occupying remote areas of Hawaiian watersheds. Management of these incipient plants is integral to current containment strategies. Herbicide Ballistic Technology (HBT) has been used for...
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The closed-loop human–robot system requires developing an effective robotic controller that considers models of both the human and the robot, as well as human adaptation to the robot. This paper develops a mid-level controller providing assist-...
In a wearable robot arm, the minimum joint configuration and link length must be considered to avoid increasing the burden on the user. This work investigated how the joint configuration, length of arm links, and mounting position of a wearable robot...
Conventional assembly methods using robots need to change end-effectors or operate two robot arms for assembly. In this study, we propose a screwdriving gripper that can perform the tasks required for the assembly using a single robot arm. The propos...
Robotic machining is a promising technology for post-processing large additively manufactured parts. However, the applicability and efficiency of robot-based machining processes are restricted by dynamic instabilities (e.g., due to external excitatio...
Industrial robot applications should be designed to allow the robot to provide the best performance for increasing throughput. In this regard, both trajectory and task order optimization are crucial, since they can heavily impact cycle time. Moreover...
Forward kinematics is one of the main research fields in robotics, where the goal is to obtain the position of a robot’s end-effector from its joint parameters. This work presents a method for achieving this using a recursive algorithm that bui...
In Japan, the disruption of ecosystems caused by alien fish in lakes and ponds is a major issue. To address this problem, we propose that the robotic fish COMET can assist in alien fish extermination by adding the function of spear shooting. The way...
Mixed-position kinematic synthesis is used to not only reach a certain number of precision positions, but also impose certain instantaneous motion conditions at those positions. In the traditional approach, one end-effector twist is defined at each p...
In recent years, the teleoperation of robots has become widespread in practical use. However, in some current modes of robot operation, such as leader-follower control, the operator must use visual information to recognize the physical deviation betw...
Bio-inspired solutions devised for Autonomous Underwater Robots are currently investigated by researchers as a source of propulsive improvement. To address this ambitious objective, the authors have designed a carangiform swimming robot, which repres...
A dimensional synthesis of parallel manipulators (PMs) consists of determining the values of the geometric parameters that affect the platform motion so that a useful workspace with assigned sizes can be suitably located in a free-from-singularity re...
Small-scale production is relying more and more on personalization and flexibility as an innovation key for success in response to market needs such as diversification of consumer preferences and/or greater regulatory pressure. This can be possible t...
Motivated by grasp planning applications within cluttered environments, this paper presents a novel approach to performing real-time surface segmentations of never-before-seen objects scattered across a given scene. This approach utilizes an input 2D...
This paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic a...
This paper presents a screw theory approach for the computation of the instantaneous rotation centers of indeterminate planar linkages. Since the end of the 19th century, the determination of the instantaneous rotation, or velocity centers of planar...
As people age, their finger function deteriorates due to muscle, nerve, and brain degeneration. While exercises might delay this deterioration, an invention that enhances elderly people’s pinching abilities is essential. This study aims to desi...
Compliant mechanisms are widely used for instrumentation and measuring devices for their precision and high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating the inverse and direct kine...
We propose a method to achieve autonomous gait transition according to speed for a quadruped robot pacing at medium speeds. We verified its effectiveness through experiments with the simulation model and the robot we developed. In our proposed method...
Redundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot a...
In this paper, the design and testing of a novel valve for the intuitive spatial control of soft or continuum manipulators are presented. The design of the valve is based on the style of a hydraulic flapper valve, but with simultaneous control of thr...
