Robotics, Volume 13, Issue 9

Manipulating a flexible ureteroscope is difficult, due to its bendable body and hand–eye coordination problems, especially when exploring the lower pole of the kidney. Though robotic interventions have been adopted in various clinical scenarios...

A tool for path following for a mobile manipulator is herein presented. The control algorithm is obtained by projecting a local frame associated with the robot onto the desired path, thus obtaining a non-orthogonal moving frame. The Serret–Fren...

This article explores the integration of a hapto-visual digital twin on a master device used for bilateral teleoperation. The device, known as a quasi-spherical parallel manipulator, is currently employed for the remote center of motion control in te...

The cost landscape in advanced technology systems is shifting dramatically. Traditionally, hardware costs took the spotlight, but now, programming and debugging complexities are gaining prominence. This paper explores this shift and its implications,...

This research presents the development and evaluation of a miniature autonomous robot inspired by insect locomotion, capable of bidirectional movement. The robot incorporates two piezoelectric bimorph resonators, 3D-printed legs, an electronic power...

Real-time (re-)planning is crucial for autonomous quadrotors to navigate in uncertain environments where obstacles may be detected and trajectory plans must be adjusted on-the-fly to avoid collision. In this paper, we present a control system design...

This paper introduces a novel fuzzy logic switched model predictive control (MPC) algorithm for articulated steering vehicles, addressing significant path tracking challenges due to varying road conditions and vehicle speeds. Traditional single-model...

The integration of advanced control systems in prostheses necessitates the accurate identification of human locomotion activities, a task that can significantly benefit from EEG-based measurements combined with machine learning techniques. The main c...

Autonomous underwater vehicles (AUVs) have been increasingly applied in marine environmental monitoring. Their outstanding capability of performing tasks without human intervention makes them a popular tool for environmental data collection, especial...

A simple actuator to create non-reciprocal leg motion is imperative in realizing a multi-legged micro-locomotion mechanism. This work focuses on an arch-shaped electrostatic actuator as a candidate actuator, and it proposes the operation protocol to...

In this paper, we introduce Tetherbot, a cable-driven climbing robot designed for microgravity environments with sparse holding points, such as space stations or asteroids. Tetherbot consists of a platform with a robotic arm that is suspended via cab...

Delta robots are the most common parallel robots for manipulation tasks. In many industrial applications, they must be operated at reduced speed, or dwell times have to be included in the motion planning, to prevent frame vibrations. As a result, the...

Our study presents a novel design for a cable-driven robotic arm, emphasizing low cost, low inertia movement, and long-term cable durability. The robotic arm shares similar specifications with the UR5 robotic arm, featuring a total of six degrees of...

This paper presents an experimental comparison between two existing methods representative of two categories of 6D pose estimation algorithms nowadays commonly used in the robotics community. The first category includes purely deep learning methods,...

This study proposes the design of a robust controller based on a Sliding Mode Control (SMC) structure. The proposed controller, called Sliding Mode Control based on Closed-Form Continuous-Time Neural Networks with Gravity Compensation (SMC-CfC-G), in...

This paper deals with the design and kinematic analysis of a novel mechanism for the elbow joint of an upper-limb exoskeleton, with the aim of helping operators, in terms of effort and physical resistance, in carrying out heavy operations. In particu...