2023 October - 25 articles
Robotic manipulators can interact with large, heavy objects through whole-arm manipulation. Combined with direct physical interaction between humans and robots, the patient can be anchored in care. However, the complexity of this scenario requires co...
The ability to predict the maximal performance of an industrial robot executing non-deterministic tasks can improve process productivity through time-based planning and scheduling strategies. These strategies require the configuration and the compari...
In this work, we propose two cooperative passivity-based control methods for networks of mechanical systems. By cooperatively synchronizing the end-effector coordinates of the individual agents, we achieve cooperation between systems of different typ...
Reinforcement learning (RL) is explored for motor control of a novel pneumatic-driven soft robot modeled after continuum media with a varying density. This model complies with closed-form Lagrangian dynamics, which fulfills the fundamental structural...
Identification is considered a very important procedure, within the control area, to estimate the best-possible approximate model among different designs. Its significance comes from the fact that more than 75% of the cost associated with an advanced...
Artificial perception for robots operating in outdoor natural environments, including forest scenarios, has been the object of a substantial amount of research for decades. Regardless, this has proven to be one of the most difficult research areas in...
3-XXRRU parallel manipulators (PMs) constitute a family of six-degrees-of-freedom (DOF) PMs with three limbs of type XXRRU, where R and U stand for revolute pair and universal joint, respectively, and XX indicates any actuated two-DOF mechanism that...
Feature extraction plays a crucial role in computer vision and autonomous navigation, offering valuable information for real-time localization and scene understanding. However, although multiple studies investigate keypoint detection and description...
Prosthetic hand systems aim at restoring lost functionality in amputees. Manipulation and grasping are the main functions of the human hand, which are provided by skin sensitivity capable of protecting the hand from damage and perceiving the external...
The Delta robot is a parallel robot that is over-actuated and has a highly nonlinear dynamic model, which poses a significant challenge to its control design. The inverse kinematics that maps the motor angles to the position of the end effector is hi...
To deploy Unmanned Aerial Vehicles (UAVs) inside heterogeneous GPS-denied confined (potentially unknown) spaces, such as those encountered in mining and Urban Search and Rescue (USAR), requires the enhancement of numerous technologies. Of special int...
Recent advancements in artificial intelligence have enabled reinforcement learning (RL) agents to exceed human-level performance in various gaming tasks. However, despite the state-of-the-art performance demonstrated by model-free RL algorithms, they...
People with disabilities are severely underrepresented in the open labor market. Yet, pursuing a job has a positive impact in many aspects of life. This paper presents a possible approach to improve inclusion by including a robotic manipulator into c...
This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom,...
Wire harness manufacturing in the aeronautic sector is highly manual work, with production defined by multiple references and small batches. Although complete automation of the production process is not feasible, a robot-assisted approach could incre...
Geometric errors are the main factors affecting the output accuracy of the parallel spindle head, and it is necessary to perform a sensitivity analysis to extract the critical geometric errors. The traditional sensitivity analysis method analyzes the...
In recent times, the soft robotics field has been attracting significant research focus owing to its high level of manipulation capabilities unlike traditional rigid robots, which gives room for increasing use in other areas. However, compared to tra...
Deep reinforcement learning (DRL) has been demonstrated to be effective for several complex decision-making applications, such as autonomous driving and robotics. However, DRL is notoriously limited by its high sample complexity and its lack of stabi...
Snake-like robots, which have high degrees of freedom and flexibility, can effectively perform an obstacle avoidance motion in a narrow and unstructured space to complete assignments efficiently. However, accurate closed-loop control is difficult to...
In this paper, we propose an in-depth evaluation of the performance of the Archimede rover while traversing rough terrain with loose soil. In order to better analyze this, the reality gap is evaluated when simulating the behavior with an open-source...
In this paper, force sensor signals are classified using a pattern recognition neural network (PRNN). The signals are classified to show if there is a collision or not. In our previous work, the joints positions of a 2-DOF robot were used to estimate...
Multirotor Uncrewed Aircraft Systems (UAS), widely known as aerial drones, are increasingly used in various indoor and outdoor applications. For outdoor field deployments, the plethora of UAS rely on Global Navigation Satellite Systems (GNSS) for the...
This paper proposes a distance-based formation control strategy with real-time disturbance rejection for omnidirectional mobile robots. The introduced control algorithm is designed such that the leader tracks a desired trajectory while the follower k...
A resilient robot can recover its original function after partial damage of the system. This paper develops an underactuated resilient robot that utilizes a combination of passive joints, active joints, adjustable links, and passive links. A novel me...
Whilst the use of digital interventions to assist patients with self-management involving embodied conversational agents (ECA) is emerging, the use of such agents to support stroke rehabilitation and recovery is rare. This iTakeCharge project takes i...
