Special Issue "Intelligent Humanoid Mobile Robots"

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".

Deadline for manuscript submissions: 10 December 2021.

Special Issue Editors

Prof. Dr. Jorge Muñoz
E-Mail Website
Guest Editor
Carlos III University of Madrid, Calle Madrid, 126, 28903 Getafe, Madrid, Spain
Interests: robust control; adaptive control; fractional-order control; robotics; humanoid robots; soft robots
Prof. Dr. Concepción A. Monje
E-Mail Website
Guest Editor
Carlos III University of Madrid, Calle Madrid, 126, 28903 Getafe, Madrid, Spain
Interests: robust control; adaptive control; fractional-order control; robotics; humanoid robots; soft robots; AUVs; path planning
Special Issues and Collections in MDPI journals

Special Issue Information

Dear Colleagues,

In the last decades, a growing interest in humanoid robotics has been observed. Not surprisingly, a complete humanoid robot would be the holy grail of service robotics. A fully capable humanoid robot is presently almost as desirable as unreachable. Although impressive advances have been made, there is still a long way to go. There are still many problems that require robust solutions in order to develop such a robot:

  • Human–robot interaction;
  • Perception and sensor integration;
  • Decision making and artificial intelligence;
  • Locomotion (legged);
  • Navigation (legged and wheeled);
  • High- and low-level humanoid control;
  • Humanoid applications of soft robotics;
  • Low-cost humanoid manufacturing (including 3d printing).

The aim of this Special Issue is to propose potential solutions to these problems and therefore to contribute to the final purpose of building reliable and affordable humanoid robots.

Prof. Dr. Jorge Muñoz
Prof. Dr. Concepción A. Monje
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All papers will be peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • humanoid robots
  • artificial intelligence
  • control engineering
  • low-cost robotics
  • legged locomotion
  • sensor fusion
  • 3D printing

Published Papers (2 papers)

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Research

Article
Active Exploration for Obstacle Detection on a Mobile Humanoid Robot
Actuators 2021, 10(9), 205; https://doi.org/10.3390/act10090205 - 25 Aug 2021
Viewed by 393
Abstract
Conventional approaches to robot navigation in unstructured environments rely on information acquired from the LiDAR mounted on the robot base to detect and avoid obstacles. This approach fails to detect obstacles that are too small, or that are invisible because they are outside [...] Read more.
Conventional approaches to robot navigation in unstructured environments rely on information acquired from the LiDAR mounted on the robot base to detect and avoid obstacles. This approach fails to detect obstacles that are too small, or that are invisible because they are outside the LiDAR’s field of view. A possible strategy is to integrate information from other sensors. In this paper, we explore the possibility of using depth information from a movable RGB-D camera mounted on the head of the robot, and investigate, in particular, active control strategies to effectively scan the environment. Existing works combine RGBD-D and 2D LiDAR data passively by fusing the current point-cloud from the RGB-D camera with the occupancy grid computed from the 2D LiDAR data, while the robot follows a given path. In contrast, we propose an optimization strategy that actively changes the position of the robot’s head, where the camera is mounted, at each point of the given navigation path; thus, we can fully exploit the RGB-D camera to detect, and hence avoid, obstacles undetected by the 2D LiDAR, such as overhanging obstacles or obstacles in blind spots. We validate our approach in both simulation environments to gather statistically significant data and real environments to show the applicability of our method to real robots. The platform used is the humanoid robot R1. Full article
(This article belongs to the Special Issue Intelligent Humanoid Mobile Robots)
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Article
Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm
Actuators 2021, 10(6), 136; https://doi.org/10.3390/act10060136 - 21 Jun 2021
Viewed by 480
Abstract
The increasing use of robots in the industry, the growing energy prices, and higher environmental awareness have driven research to find new solutions for reducing energy consumption. In additional, in most robotic tasks, energy is used to overcome the forces of gravity, but [...] Read more.
The increasing use of robots in the industry, the growing energy prices, and higher environmental awareness have driven research to find new solutions for reducing energy consumption. In additional, in most robotic tasks, energy is used to overcome the forces of gravity, but in a few industrial applications, the force of gravity is used as a source of energy. For this reason, the use of magnetic springs with actuators may reduce the energy consumption of robots performing trajectories due their high-hardness magnetic properties of energy storage. Accordingly, this paper proposes a magnetic spring configuration as an energy-storing system for a two DoF humanoid arm. Thus, an integration of the magnetic spring system in the robot is described. A control strategy is proposed to enable autonomous use. In this paper, the proposed device is modeled and analyzed with simulations as: mechanical energy consumption and kinetic energy rotational and multibody dynamics. Furthermore, a prototype was manufactured and validated experimentally. A preliminary test to check the interaction between the magnetic spring system with the mechanism and the trajectory performance was carried out. Finally, an energy consumption comparison with and without the magnetic spring is also presented. Full article
(This article belongs to the Special Issue Intelligent Humanoid Mobile Robots)
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