2025 June - 17 articles
This paper introduces a robust neural adaptive MIMO control strategy to improve the stability and adaptability of bipedal locomotion amid uncertainties and external disturbances. The control combines nonlinear dynamic inversion, finite-time convergen...
Gesture recognition based on conventional machine learning is the main control approach for advanced prosthetic hand systems. Its primary limitation is the need for feature extraction, which must meet real-time control requirements. On the other hand...
We address the problem of humanoid locomotion in 3D environments consisting of planar regions with arbitrary inclination and elevation, such as staircases, ramps, and multi-floor layouts. The proposed framework combines an offline randomized footstep...
With the continuous increase in the global aging population, stroke has become one of the major diseases affecting the health of the elderly, and the upper limb motor dysfunction it causes often requires long-term rehabilitation. To improve rehabilit...
The inspection of sewer pipes in the UK is costly, and if not inspected regularly, they are costly and disruptive to repair. This paper presents the Mega-Joey, a novel miniature, tether-less robot platform that is capable of autonomously navigating a...
Most of the developed and studied service robots for vertical locomotion, as visual inspection, are made up by a rigid body with legs, wheels, or both. Thus, the robot can only displace over regular and/or flat surfaces since it is not able to adapt...
To achieve obstacle-avoiding puncture in breast interventional surgery, a robotics system based on three-fingered breast target-point manipulation is proposed and designed. Firstly, based on the minimum number of control points required for three-dim...
One of the most commonly performed environmental explorations is soil sampling to identify soil properties of agricultural fields, which can inform the farmer about the variable rate treatment of fertilisers in precision agriculture. However, traditi...
This study proposes a robust methodology for vibration suppression and trajectory tracking in rotary flexible-link systems by leveraging guided reinforcement learning (GRL). The approach integrates the twin delayed deep deterministic policy gradient...
The advent of Industry 4.0, driven by automation and real-time data analysis, offers significant opportunities to revolutionize manufacturing, with mobile robots playing a central role in boosting productivity. In smart job shops, scheduling tasks in...
Autonomous navigation in mining environments is challenged by complex wheel–terrain interaction, traction losses caused by slip dynamics, and sensor limitations. This paper investigates the effectiveness of Deep Reinforcement Learning (DRL) tec...
Remote support in general is a method that saves time and resources. A relatively new and promising technology for remote support that combines video conferencing and physical mobility is that of telepresence systems. The remote assistant, that is, t...
This paper presents the design and implementation of a Model-based Predictive Control (MPC) strategy integrated within a modular multilayer architecture for a three-wheeled omnidirectional mobile robot, the Robotino 4 from Festo. The implemented arch...
Visual–Inertial Odometry (VIO) algorithms are widely adopted for autonomous drone navigation in GNSS-denied environments. However, conventional monocular and stereo VIO setups often lack robustness under challenging environmental conditions or...
Robotics has widespread applications throughout industrial automation, autonomous vehicles, agriculture, and more. For these reasons, undergraduate education has begun to focus on preparing engineering students to directly contribute to the design an...
The construction of high-rise buildings necessitates efficient and reliable material transport systems to improve productivity and reduce labor-intensive tasks. Traditional methods such as cranes and elevators are widely used but are often constraine...
The integration of new technologies in Industry 4.0 has modernised agriculture, fostering the concept of smart agriculture (Agriculture 4.0). Higher education institutions are incorporating digital technologies into agricultural curricula, equipping...
