Robotics, Volume 14, Issue 12

In this work, we propose a fully decentralized, self-organizing control framework for a swarm of autonomous ground mobile robots. The system integrates potential field-based mechanisms for simultaneous trajectory tracking, formation control, and obst...

Limited workspace and singularities are major challenges for parallel mechanisms. This article addresses these issues for a 4-DOF 1-SPS/3-RRRRR parallel mechanism with a circular rail, proposed in our prior work. The mechanism has a 3R1T motion type...

This paper addresses image-based visual servoing with the field-of-view limitation of the camera. A novel control method is proposed with dual constraints based on fixed-time and prescribed-time convergence. With the introduction of a prescribed-time...

We introduce the pose-graph topological integrity, an approach designed to assess the correctness of pose graphs in simultaneous localization and mapping. Traditional methods assessed map quality according to the optimality criteria based on pose gra...

This article presents a methodology for real-time forecasting of a fire-extinguishing agent jet trajectory from a robotic fire monitor under wind influence, which can significantly displace the impact area position and complicate targeting. The propo...

Accurate and real-time evaluation of energy expenditure is crucial for optimizing exoskeleton control laws. Conventional regression-based prediction approaches are strongly affected by inter-individual variability in surface electromyography (sEMG) s...

Collaborative perception can mitigate occlusion and range limitations in autonomous driving, but deployment remains constrained by strict bandwidth budgets and heterogeneous agent stacks. We propose a communication-efficient and backbone-agnostic fra...

Energy efficiency represents a fundamental aspect of sustainable industrial automation, where minimizing energy expenditure supports both environmental and economic goals. This work presents the modeling and comparative analysis of the energy consump...

Human–robot collaboration (HRC) is a key focus of Industry 5.0, aiming to enhance worker productivity while ensuring well-being. The ability to perceive human psycho-physical states, such as stress and cognitive load, is crucial for adaptive an...

This study presents an assessment scheme for haptic interaction systems based on Hamiltonian energy prediction, which contributes to procedures applied to neurorehabilitation. It focuses on robotic systems involving human participation in the control...

This work presents a method to utilise only haptic information in successfully completing a threaded insertion. We derive the insights for this task from human demonstrations and highlight the sufficiency of haptic data in this application, without t...

Supervised training of neural networks is time consuming, and the scenarios required for obtaining a representative dataset must be carefully considered for each task. Applying an unsupervised training approach can greatly simplify this data collecti...

Reliable transfer of control policies from simulation to real-world robotic systems remains a central challenge in robotics, particularly for car-like mobile robots. Digital Twin (DT) technology provides a robust framework for high-fidelity replicati...

Robots and artificial intelligence have revolutionized the healthcare sector. Patient transportation within hospitals is emerging as a critical application; however, reducing errors and inefficiencies caused by human intervention and ensuring safe, e...

The recent global pandemic has posed unprecedented challenges to public health systems and has highlighted the critical need for effective, contactless disinfection strategies in shared environments. This study investigates the use of autonomous robo...

Solenoid valves are widely used for pressure regulation in soft pneumatic robots, but their inherent electromechanical nonlinearities—such as dead zones, saturation, and pressure-dependent dynamics—pose significant challenges for accurate...

Considering the human-centric approach promoted by Industry 5.0, safety becomes a crucial aspect in scenarios of human–robot interaction, especially when abrupt human movements occur due to inattention or unexpected circumstances. To this end,...

This paper presents a novel synthetic learning-based approach for solving the component-to-slot assignment problem in robotics using a SCARA robot. The method uses a fully simulated environment that generates and annotates scenes based on rules and v...

The integration of intention recognition systems in industrial collaborative robotics is crucial for improving safety and efficiency in modern manufacturing environments. This review paper looks at frameworks that enable collaborative robots to under...

In open-pit mining, holes are drilled into the surface of the excavation site and are then detonated with explosives to facilitate digging. These blast holes need to be inspected internally for quality assurance, as well as for operational and geolog...

The deployment of robotic systems in hazardous and magnetically intense environments requires careful assessment of their performance under external disturbances. In particular, electromagnetic motors used for actuation may interact with strong magne...