Robotics, Volume 12, Issue 3

Robots operating in human environments require a diverse set of skills, including slow and fast walking, turning, side-stepping, and more. However, developing robot controllers capable of exhibiting such a broad range of behaviors is a challenging pr...

This paper presents a study of energy efficiency and kinematic-based optimal design locomotion of a pneumatic artificial muscle (PAM)-driven snake-like robot. Although snake-like robots have several advantages over wheeled and track-wheeled mobile ro...

Visual localization and mapping algorithms attempt to estimate, from images, geometrical models that explain ego motion and the positions of objects in a real scene. The success of these tasks depends directly on the quality and availability of visua...

Robot Operating System 2 (ROS 2) is a robotic software that uses a set of Quality of Service (QoS) policies to manage the quality of robot data transmissions in a network, such as the RELIABLE and KEEP_LAST options. In ROS 2 node communication, the R...

Quadruped robots have garnered significant attention in recent years due to their ability to navigate through challenging terrains. Among the various environments, agriculture fields are particularly difficult for legged robots, given the variability...

This paper proposes an algorithm that provides operational strategies for multiple tethered autonomous underwater vehicle (T-AUV) systems for entanglement-free navigation. T-AUVs can perform underwater tasks under reliable communication and power sup...

This literature review presents a comprehensive analysis of the use and potential application scenarios of collaborative robots in the industrial working world, focusing on their impact on human work, safety, and health in the context of Industry 4.0...

In a telerehabilitation environment, it is difficult for a therapist to understand the condition of a patient’s finger joints because of the lack of direct assessment. In particular, not enabling the provision of spasticity evaluation significa...

In recent years, many studies have shown that soft robots with elastic actuators enable robust interaction with the environment. Compliant joints can protect mechanical systems and provide better dynamic performance, thus offering huge potential for...

Obstacle avoidance is a challenging task in robot navigation, as it requires efficient and reliable methods to avoid collision and reach the desired goal. Artificial potential field methods are widely used for this purpose, as they are efficient, eff...

Compliance actuation systems are efficient and safe, drawing attention to their development. However, compliance has caused bandwidth loss, instability, and mechanical vibration in robotic systems. Variable physical damping was introduced to address...

This study provides a structured literature review of the recent COllaborative roBOT (COBOT) applications in industrial and service contexts. Several papers and research studies were selected and analyzed, observing the collaborative robot interactio...

This paper presents results coming from a non-linear model predictive controller used to generate optimized trajectories specifically for an omnidirectional robot equipped with a spraying unit to mark on the floor the perimeter of dangerous areas or...

Prototyping and validating hardware–software components, sub-systems and systems within the intelligent transportation system-of-systems framework requires a modular yet flexible and open-access ecosystem. This work presents our attempt to deve...

In this paper, we suggest an implementation of non-commutative logic and apply its operators for decision-making in a group of autonomous agents. The suggested operators extend the uninorm and absorbing norm aggregators and use an additional asymmetr...

The paper presents the design and experimental study of a synthesis method based on reference signal generation systems. The method can be used for all actuators of redundant manipulators. The aforementioned systems aim to save the dynamic control ac...

Stair climbing is one of the most challenging tasks for vehicles, especially when transporting people and heavy loads. Although many solutions have been proposed and demonstrated in practice, it is necessary to further improve their climbing ability...

Flexible manipulator systems in specific applications such as space exploration, nuclear waste treatment, medical applications, etc., often have characteristics superior to conventional rigid manipulator systems. However, their elasticity and complex...

Human handwriting is an everyday task performed regularly by most people. In the domain of robotic painting, multiple calligraphy machines exist which were built to replicate some aspects of human artistic writing; however, most projects are limited...

Digital models of industrial and collaborative manipulators are widely used for several applications, such as power-efficient trajectory definition, human–robot cooperation safety improvement, and prognostics and health management (PHM) algorit...

This paper addresses the problem of building an occupancy grid map of an unknown environment using a swarm comprising resource-constrained robots, i.e., robots with limited exteroceptive and inter-robot sensing capabilities. Past approaches have, com...

Paraconsistent Annotated Logic (PAL) is a type of non-classical logic based on concepts that allow, under certain conditions, for one to accept contradictions without invalidating conclusions. The Paraconsistent Artificial Neural Cell of Learning (lP...

Robots can be equipped with a range of senses to allow them to perceive and interact with the world in a more natural and intuitive way. These senses can include vision, hearing, touch, smell, and taste. Vision allows the robot to see and recognize o...

In this paper, the locomotion and steering control of a simulated Mini Cheetah quadruped robot was investigated in the presence of terrain characterised by low friction. Low-level locomotion and steering control were implemented via a central pattern...

Accurate interaction force estimation can play an important role in optimizing human–robot interaction in an exoskeleton. In this work, we propose a novel approach for the system identification of exoskeleton dynamics in the presence of interac...

Trajectory planning is a classic problem in robotics, with different approaches and optimisation objectives documented in the literature. Most of the time, the path is assumed, i.e., pre-defined, and optimisation consists of finding the timing of mot...

This paper presents robot localization using building architectural plans and hierarchical SLAM. We extract geometric, semantic as well as topological information from the architectural plans in the form of walls and rooms, and create the topological...

Safe navigation is a key objective for autonomous applications, particularly those involving mobile tasks, to avoid dangerous situations and prevent harm to humans. However, the integration of a risk management process is not yet mandatory in robotic...