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Machines
Special Issues
Advances and Challenges in Robotic Manipulation
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Advances and Challenges in Robotic Manipulation

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Robotics, Mechatronics and Intelligent Machines".

Deadline for manuscript submissions: 30 April 2026 | Viewed by 1233

Special Issue Editors

Dr. Quang Minh Ta

E-Mail Website
Guest Editor
Department of Electrical and Computer Engineering, The University of West Florida, 11000 University Pkwy, Pensacola, FL 32514, USA
Interests: robotics and control theory; micro-manipulation; image processing/analysis
Dr. Tan Chen

E-Mail Website
Guest Editor
Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA
Interests: legged locomotion; collaborative robots; learning-based control

Special Issue Information

Dear Colleagues,

Humans are capable of manipulating objects of various sizes, shapes, and materials to perform complex tasks. Replicating this capability in robotic systems has long been a fundamental challenge in robotics. The first robotic manipulator, developed in the 1960s, was designed for repetitive tasks with a limited degree of freedom. Over the decades, advancements in sensing, control, and machine learning have significantly expanded robotic manipulation capabilities. Today, research in this field is rapidly evolving, addressing challenges in perception, dexterity, learning, and adaptability across various environments.

The Special Issue “Advances and Challenges in Robotic Manipulation” aims to summarize the latest developments and emerging trends in this field. It provides an international platform for researchers, academics, and industry professionals to discuss key challenges, share knowledge and open-source tools, and highlight high-impact applications of robotic manipulation. By showcasing recent breakthroughs and future opportunities, this Special Issue seeks to advance the state of the art and inspire further innovation in robotic manipulation.

We welcome submissions from all related topics in academic research and industry, including, but not limited to, the following:

  • Modelling, design, and control of robotic grippers, hands, and manipulators;
  • Planning and perception for robotic grasping and dexterous manipulation;
  • Learning-based approaches for robotic manipulation;
  • Manipulation in dynamic and unstructured environments;
  • Robotic handling of deformable and soft objects;
  • Safety, robustness, and human–robot interaction in manipulation;
  • Sim-to-real transfer in robotic manipulation;
  • Industrial and real-world applications of robotic manipulation.

Dr. Quang Minh Ta
Dr. Tan Chen
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 submissions that pass pre-check are 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. Machines 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 2400 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

  • robotic manipulation
  • grasping
  • dexterous manipulation
  • motion planning
  • learning-based approaches
  • sim-to-real transfer
  • industrial robotics
  • deformable objects
  • dynamic environments
  • human–robot interaction

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Further information on MDPI's Special Issue policies can be found here.

Published Papers (2 papers)

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16 pages, 7120 KB  
Article
Ultra-Long, Minor-Diameter, Untethered Growing Continuum Robot via Tip Actuation and Steering
by Pan Zhou, Zhaoyi Lin, Lang Zhou, Haili Li, Michael Basin and Jiantao Yao
Machines 2025, 13(9), 851; https://doi.org/10.3390/machines13090851 - 15 Sep 2025
Viewed by 350
Abstract
Continuum robots with outstanding compliance, dexterity, and lean bodies are successfully applied in medicine, aerospace engineering, the nuclear industry, rescue operations, construction, service, and manipulation. However, the inherent low stiffness characteristics of continuum bodies make it challenging to develop ultra-long and small-diameter continuum [...] Read more.
Continuum robots with outstanding compliance, dexterity, and lean bodies are successfully applied in medicine, aerospace engineering, the nuclear industry, rescue operations, construction, service, and manipulation. However, the inherent low stiffness characteristics of continuum bodies make it challenging to develop ultra-long and small-diameter continuum robots. To address this size–scale challenge of continuum robots, we developed an 8 m long continuum robot with a diameter of 23 mm by a tip actuation and growth mechanism. Meanwhile, we also realized the untethered design of the continuum robot, which greatly increased its usable space range, portability, and mobility. Demonstration experiments prove that the developed growing continuum robot has good flexibility and manipulability, as well as the ability to cross obstacles and search for targets. Its continuum body can transport liquids over long distances, providing water, medicine, and other rescue items for trapped individuals. The functionality of an untethered growing continuum robot (UGCR) can be expanded by installing multiple tools, such as a grasping tool at its tip to pick up objects in deep wells, pits, and other scenarios. In addition, we established a static model to predict the deformation of UGCR, and the prediction error of its tip position was within 2.6% of its length. We verified the motion performance of the continuum robot through a series of tests involving workspace, disturbance resistance, collision with obstacles, and load performance, thus proving its good anti-interference ability and collision stability. The main contribution of this work is to provide a technical reference for the development of ultra-long continuum robots based on the tip actuation and steering principle. Full article
(This article belongs to the Special Issue Advances and Challenges in Robotic Manipulation)
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36 pages, 9288 KB  
Article
Robotic Contact on Complex Curved Surfaces Using Adaptive Trajectory Planning Through Precise Force Control
by Hosham Wahballa, Abubker Ahmed, Ghazally I. Y. Mustafa, Mohammednour Gibreel and Lei Weining
Machines 2025, 13(9), 794; https://doi.org/10.3390/machines13090794 - 2 Sep 2025
Viewed by 540
Abstract
This paper presents a control method for achieving precise robotic contact on complex and curved surfaces in manufacturing and automation. The method combines smooth trajectory planning with contact force control to improve finishing accuracy while reducing processing time. It integrates a Bézier curve [...] Read more.
This paper presents a control method for achieving precise robotic contact on complex and curved surfaces in manufacturing and automation. The method combines smooth trajectory planning with contact force control to improve finishing accuracy while reducing processing time. It integrates a Bézier curve with a simplified hexic polynomial implemented through a position-based impedance controller that is enhanced by a novel force corrector unit. The model is referred to as the Adaptive Bézier–Based Impedance Constant Force Controller (ABBIFC), where the Bézier curve length is calculated using Simpson’s rule, and surface orientations are interpolated using quadratic quaternions. A hexic polynomial velocity profile ensures consistent motion speed throughout the process. This method effectively regulates both contact force and positional accuracy, resulting in high-quality surface finishes. Simulation studies and real-time polishing experiments demonstrate the system’s capability to accurately track path, speed, and force, with significantly reduced force errors. This approach advances robotic automation in applications such as polishing, grinding, and other surface finishing tasks by ensuring smooth motion and precise force control. Full article
(This article belongs to the Special Issue Advances and Challenges in Robotic Manipulation)
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