2019 June - 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...
Thanks to recent technological improvements that enable novel applications beyond the industrial context, there is growing interest in the use of robots in everyday life situations. To improve the acceptability of personal service robots, they should...
Robot localization is an important task for mobile robot navigation. There are many methods focused on this issue. Some methods are implemented in indoor and outdoor environments. However, robot localization in textureless environments is still a cha...
In this work, a new pre-tuning multivariable PID (Proportional Integral Derivative) controllers method for quadrotors is put forward. A procedure based on LQR/LQG (Linear Quadratic Regulator/Gaussian) theory is proposed for attitude and altitude cont...
Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of...
Dealing with uncertainties along with high-efficiency planning for task assignment problem is still challenging, especially for multi-agent systems. In this paper, two frameworks—Compromise View model and the Nearest-Neighbour Search model&mdas...
Piping inspection robots are of greater importance for industries such as nuclear, chemical and sewage. Mechanisms having closed loop or tree-like structures can be employed in such pipelines owing to their adaptable structures. A bio-inspired caterp...
This paper presents a closed-loop calibration approach using impedance control. The process is managed by a data communication architecture based on open-source tools and designed for adaptability. The calibration procedure uses precision spheres and...
MEDER 2018, the IFToMM International Symposium on Mechanism Design for Robotics, was the fourth event of a series that was started in 2010 as a specific conference activity on mechanisms for robots [...]
This paper describes the development of a new method to control the camera arm of a surgical robot and create a better sense of remote presence for the surgeon. The current surgical systems are entirely controlled by the surgeon, using hand controlle...
Variable stiffness actuators are employed to improve the safety features of robots that share a common workspace with humans. In this paper, a study of a joint variable stiffness device developed by PPRIME Institute—called V2SOM— for impl...
This paper addresses the effects of electric power quality on robotic operations. A general overview is reported to highlight the main characteristics of electric power quality and it’s effects on a powered system by considering an end-user&rsq...
This paper presents the application of a mobile robot designed as an Assistant Personal Robot (APR) as a walk-helper tool. The hypothesis is that the height and weight of this mobile robot can be used also to provide a dynamic physical support and gu...
In the design of humanoid robotic hands, it is important to evaluate the grasp stability, especially when the concept of underactuation is involved. The use of a number of degrees of actuation lower than the degrees of freedom has shown some advantag...
This paper proposes a long-term adaptive distributed intelligent systems model which combines an organization theory and multi-agent paradigm—ViaBots. Currently, the need for adaptivity in autonomous intelligent systems becomes crucial due to t...
This paper presents a method for creating expressive aerial robots through an algorithmic procedure for creating variable motion under given task constraints. This work is informed by the close study of the Laban/Bartenieff movement system, and movem...
