2024 August - 14 articles
Autonomous navigation in dynamic environments is a significant challenge in robotics. The primary goals are to ensure smooth and safe movement. This study introduces a control strategy based on an Adaptive Neuro-Fuzzy Inference System (ANFIS). It enh...
In this paper, for the first time, experimental tests of complete offline walking gaits generated by the essential model are performed. This model does not make simplifications in the dynamics of the robot, and its main advantage is the definition of...
The present contribution introduces the task-dependent comfort zone as a base placement strategy for mobile manipulators using different manipulability measures. Four different manipulability measures depending on end-effector velocities, forces, sti...
Humanoid robots often struggle with tasks such as lifting objects due to the complexity involved in identifying contact points, applying the correct force, and tracking task progress. We propose an integrated solution that leverages the dual-arm capa...
Work-related musculoskeletal disorders (WMSDs) are a common occupational health problem in industries, and they can lead to decreased productivity and a reduced quality of life for workers. Exoskeletons, as an emerging technology, have the potential...
Manipulation involves both fine tactile feedback, with dynamic transients perceived by fingerpad mechanoreceptors, and kinaesthetic force feedback, involving the whole hand musculoskeletal structure. In teleoperation experiments, these fundamental as...
This paper explores the problem of automated robot program generation from limited historical data when neither accurate geometric environmental models nor online vision feedback are available. The Program Reuse Framework (PRF) is developed, which us...
This paper presents a comprehensive survey of UAV-centric situational awareness (SA), delineating its applications, limitations, and underlying algorithmic challenges. It highlights the pivotal role of advanced algorithmic and strategic insights, inc...
This study introduces a novel modular soft actuator designed for an anthropomorphic robotic finger that addresses the need for adaptive behavior and precise joint-angle control. The key innovation is its modular design, which enables independent pres...
In this paper, we present a vision-based leader–follower strategy for formation control of multiple quadrotors. The leaders use a decoupled visual control scheme based on invariant features. The followers use a control scheme based only on bear...
In many Unmanned Aerial Vehicle (UAV) operations, accurately estimating the UAV’s position and orientation over time is crucial for controlling its trajectory. This is especially important when considering the landing maneuver, where a ground-b...
In recent years, tasks regarding autonomous mobility favoredthe use of legged robots rather than wheeled ones thanks to their higher mobility on rough and uneven terrains. This comes at the cost of more complex motion planners and controllers to ensu...
The potential use of large language models (LLMs) in healthcare robotics can help address the significant demand put on healthcare systems around the world with respect to an aging demographic and a shortage of healthcare professionals. Even though L...
Due to the wide adoption of digital voice assistants (DVAs), interactions with technology have also changed our perceptions, highlighting and reinforcing (mostly) negative gender stereotypes. Regarding the ongoing advancements in the field of human&n...
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