June 2019 - 25 articles
Despite research related to flexible or continuum curvilinear robots, there lacks a common simulation tool for continuum robots, which are unlike rigid robots. Thus, in this paper, a robotics toolbox is utilized to model a wire-driven flexible manipu...
Inspection and monitoring of wet nuclear storage facilities such as spent fuel pools or wet silos is performed for a variety of reasons, including nuclear security and characterisation of storage facilities prior to decommissioning. Until now such ta...
The present paper analyses the potential dynamic performance of a novel redundant SCARA robot, currently at the stage of a functional design proposed by a renowned robot manufacturer. The static and dynamic manipulability of the new concept is compar...
This paper presents experimental results developed within the WIRES experiment, whose main objective is the robotized cabling of switchgears. This task is currently executed by human operators; the WIRES Project tackles the development of a suitably...
Robotic path planning is a field of research which is gaining traction given the broad domains of interest to which path planning is an important systemic requirement. The aim of path planning is to optimise the efficacy of robotic movement in a defi...
We present a method for matching sketch maps to a corresponding metric map, with the aim of later using the sketch as an intuitive interface for human–robot interactions. While sketch maps are not metrically accurate and many details, which are deeme...
This article investigates visual servoing for a hydraulically actuated dual-arm robot, in which the user selects the object of interest from an on-screen image, whilst the computer control system implements via feedback control the required position...
In this paper, we present the modeling and validation of a new family of climbing robots that are capable of adhering to vertical surfaces through permanent magnetic elements. The robotic system is composed of two modules, the master and the follower...
Simultaneous Localization And Mapping (SLAM) usually assumes the robot starts without knowledge of the environment. While prior information, such as emergency maps or layout maps, is often available, integration is not trivial since such maps are oft...
Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The...
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