Journal Description
Robotics
Robotics
is a peer-reviewed, international journal presenting state-of-the-art research in the area of robotics, and is published quarterly online by MDPI. The IFToMM is affiliated with Robotics and its members receive a discount on the article processing charges.
- Open Access— free for readers, with article processing charges (APC) paid by authors or their institutions.
- High Visibility: indexed within Scopus, ESCI (Web of Science), dblp, Inspec, and many other databases.
- Journal Rank: CiteScore - Q2 (Control and Optimization)
- Rapid Publication: manuscripts are peer-reviewed and a first decision provided to authors approximately 20.7 days after submission; acceptance to publication is undertaken in 3.8 days (median values for papers published in this journal in the first half of 2021).
- Recognition of Reviewers: reviewers who provide timely, thorough peer-review reports receive vouchers entitling them to a discount on the APC of their next publication in any MDPI journal, in appreciation of the work done.
Latest Articles
A Case Study on Improving the Software Dependability of a ROS Path Planner for Steep Slope Vineyards
Robotics 2021, 10(3), 103; https://doi.org/10.3390/robotics10030103 (registering DOI) - 26 Aug 2021
Abstract
Software for robotic systems is becoming progressively more complex despite the existence of established software ecosystems like ROS, as the problems we delegate to robots become more and more challenging. Ensuring that the software works as intended is a crucial (but not trivial)
[...] Read more.
Software for robotic systems is becoming progressively more complex despite the existence of established software ecosystems like ROS, as the problems we delegate to robots become more and more challenging. Ensuring that the software works as intended is a crucial (but not trivial) task, although proper quality assurance processes are rarely seen in the open-source robotics community. This paper explains how we analyzed and improved a specialized path planner for steep-slope vineyards regarding its software dependability. The analysis revealed previously unknown bugs in the system, with a relatively low property specification effort. We argue that the benefits of similar quality assurance processes far outweigh the costs and should be more widespread in the robotics domain.
Full article
(This article belongs to the Special Issue Advances in Agriculture and Forest Robotics)
►
Show Figures
Open AccessArticle
Paquitop.arm, a Mobile Manipulator for Assessing Emerging Challenges in the COVID-19 Pandemic Scenario
by
, , , , and
Robotics 2021, 10(3), 102; https://doi.org/10.3390/robotics10030102 - 14 Aug 2021
Abstract
The use of automation and robotics technologies for caregiving and assistance has become a very interesting research topic in the field of robotics. The spread of COVID-19 has highlighted the importance of social distancing in hospitals and health centers, and collaborative robotics can
[...] Read more.
The use of automation and robotics technologies for caregiving and assistance has become a very interesting research topic in the field of robotics. The spread of COVID-19 has highlighted the importance of social distancing in hospitals and health centers, and collaborative robotics can bring substantial improvements in terms of sparing health workers basic operations. Thus, researchers from Politecnico di Torino are working on Paquitop.arm, a mobile robot for assistive tasks. The purpose of this paper is to present a system composed of an omnidirectional mobile platform, a 6 DOF robot arm, and a depth camera. Task-oriented considerations are made to estimate a set of mounting parameters that represents a trade-off between the exploitation of the robot arm workspace and the compactness of the entire system. To this end, dexterity and force transmission indexes are introduced to study both the kinematic and the static behavior of the manipulator as a function of the mounting parameters. Finally, to avoid singularities during the execution of the task, the platform approach to the task workspaces is studied.
Full article
(This article belongs to the Special Issue Service Robotics against COVID-2019 Pandemic)
►▼
Show Figures

Figure 1
Open AccessArticle
Multidirectional Overground Robotic Training Leads to Improvements in Balance in Older Adults
by
, , , , , , , and
Robotics 2021, 10(3), 101; https://doi.org/10.3390/robotics10030101 - 06 Aug 2021
Abstract
For the rapidly growing aging demographic worldwide, robotic training methods could be impactful towards improving balance critical for everyday life. Here, we investigated the hypothesis that non-bodyweight supportive (nBWS) overground robotic balance training would lead to improvements in balance performance and balance confidence
[...] Read more.
For the rapidly growing aging demographic worldwide, robotic training methods could be impactful towards improving balance critical for everyday life. Here, we investigated the hypothesis that non-bodyweight supportive (nBWS) overground robotic balance training would lead to improvements in balance performance and balance confidence in older adults. Sixteen healthy older participants (69.7 ± 6.7 years old) were trained while donning a harness from a distinctive NaviGAITor robotic system. A control group of 11 healthy participants (68.7 ± 5.0 years old) underwent the same training but without the robotic system. Training included 6 weeks of standing and walking tasks while modifying: (1) sensory information (i.e., with and without vision (eyes-open/closed), with more and fewer support surface cues (hard or foam surfaces)) and (2) base-of-support (wide, tandem and single-leg standing exercises). Prior to and post-training, balance ability and balance confidence were assessed via the balance error scoring system (BESS) and the Activities specific Balance Confidence (ABC) scale, respectively. Encouragingly, results showed that balance ability improved (i.e., BESS errors significantly decreased), particularly in the nBWS group, across nearly all test conditions. This result serves as an indication that robotic training has an impact on improving balance for healthy aging individuals.
Full article
(This article belongs to the Special Issue Robots for Health and Elderly Care)
►▼
Show Figures

Figure 1
Open AccessReview
Trends in the Control of Hexapod Robots: A Survey
Robotics 2021, 10(3), 100; https://doi.org/10.3390/robotics10030100 - 04 Aug 2021
Abstract
The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task is of high interest due to the possibility of replacing human beings in exploration, surveillance and rescue missions. For
[...] Read more.
The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task is of high interest due to the possibility of replacing human beings in exploration, surveillance and rescue missions. For this application, the control system must adapt the actuation of the limbs according to their surroundings to ensure that the hexapod does not tumble during locomotion. The most traditional approach considers their limbs as robotic manipulators and relies on mechanical models to actuate them. However, the increasing interest in model-free models for the control of these systems has led to the design of novel solutions. Through a systematic literature review, this paper intends to overview the trends in this field of research and determine in which stage the design of autonomous and adaptable controllers for hexapods is.
Full article
(This article belongs to the Special Issue Recent Trends and Advances in Mechanism Design and Robotics)
►▼
Show Figures

Figure 1
Open AccessArticle
Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers
Robotics 2021, 10(3), 99; https://doi.org/10.3390/robotics10030099 - 03 Aug 2021
Abstract
In this paper, methods of kinematic synthesis and analysis of the RoboMech class parallel manipulator (PM) with two grippers (end effectors) are presented. This PM is formed by connecting two output objects (grippers) with a base using two passive and one negative closing
[...] Read more.
In this paper, methods of kinematic synthesis and analysis of the RoboMech class parallel manipulator (PM) with two grippers (end effectors) are presented. This PM is formed by connecting two output objects (grippers) with a base using two passive and one negative closing kinematic chains (CKCs). A PM with two end effectors can be used for reloading operations of stamped products between two adjacent main technologies in a cold stamping line. Passive CKCs represent two serial manipulators with two degrees of freedom, and negative CKC is a three-joined link with three negative degrees of freedom. A negative CKC imposes three geometric constraints on the movements of the two output objects. Geometric parameters of the negative CKC are determined on the basis of the problems of the Chebyshev and least-square approximations. Problems of positions and analogues of velocities and accelerations of the PM with two end effectors have been solved.
Full article
(This article belongs to the Special Issue Kinematics and Robot Design IV, KaRD2021)
►▼
Show Figures

Figure 1
Open AccessArticle
Self-Disclosure to a Robot: Only for Those Who Suffer the Most
Robotics 2021, 10(3), 98; https://doi.org/10.3390/robotics10030098 - 29 Jul 2021
Abstract
►▼
Show Figures
Social robots may become an innovative means to improve the well-being of individuals. Earlier research has shown that people easily self-disclose to a social robot, even in cases where it was unintended by the designers. We report on an experiment considering self-disclosing in
[...] Read more.
Social robots may become an innovative means to improve the well-being of individuals. Earlier research has shown that people easily self-disclose to a social robot, even in cases where it was unintended by the designers. We report on an experiment considering self-disclosing in a diary journal or to a social robot after negative mood induction. An off-the-shelf robot was complemented with our in-house developed AI chatbot, which could talk about ‘hot topics’ after training it with thousands of entries on a complaint website. We found that people who felt strongly negative after being exposed to shocking video footage benefited the most from talking to our robot, rather than writing down their feelings. For people less affected by the treatment, a confidential robot chat or writing a journal page did not differ significantly. We discuss emotion theory in relation to robotics and possibilities for an application in design (the emoji-enriched ‘talking stress ball’). We also underline the importance of otherwise disregarded outliers in a data set of therapeutic nature.
Full article

Graphical abstract
Open AccessArticle
Towards the Determination of Safe Operating Envelopes for Autonomous UAS in Offshore Inspection Missions
Robotics 2021, 10(3), 97; https://doi.org/10.3390/robotics10030097 - 28 Jul 2021
Abstract
A drive to reduce costs, carbon emissions, and the number of required personnel in the offshore energy industry has led to proposals for the increased use of autonomous/robotic systems for many maintenance tasks. There are questions over how such missions can be shown
[...] Read more.
A drive to reduce costs, carbon emissions, and the number of required personnel in the offshore energy industry has led to proposals for the increased use of autonomous/robotic systems for many maintenance tasks. There are questions over how such missions can be shown to be safe. A corollary exists in the manned aviation world for helicopter–ship operations where a test pilot attempts to operate from a ship under a range of wind conditions and provides subjective feedback on the level of difficulty encountered. This defines the ship–helicopter operating limit envelope (SHOL). Due to the cost of creating a SHOL there has been considerable research activity to demonstrate that much of this process can be performed virtually. Unmanned vehicles, however, have no test pilot to provide feedback. This paper therefore explores the possibility of adapting manned simulation techniques to the unmanned world to demonstrate that a mission is safe. Through flight modelling and simulation techniques it is shown that operating envelopes can be created for an oil rig inspection task and that, by using variable performance specifications, these can be tailored to suit the level of acceptable risk. The operating envelopes produced provide condensed and intelligible information regarding the environmental conditions under which the UAS can perform the task.
Full article
(This article belongs to the Special Issue Advances in Robots for Hazardous Environments in the UK)
►▼
Show Figures

Figure 1
Open AccessArticle
The WL_PCR: A Planning for Ground-to-Pole Transition of Wheeled-Legged Pole-Climbing Robots
Robotics 2021, 10(3), 96; https://doi.org/10.3390/robotics10030096 - 27 Jul 2021
Abstract
Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused
[...] Read more.
Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused on the transition of the robot from the ground to the pole. In this study, a locomotion strategy of wheeled-legged pole-climbing robots (the WL_PCR) is proposed to solve the problem of ground-to-pole transition. By analyzing the force of static and dynamic process in the ground-to-pole transition, the condition of torque provided by the gripper and moving joint is proposed. The mathematical expression of Centre of Mass (CoM) of the wheeled-legged pole-climbing robots is utilized, and the conditions for the robot to smoothly transition from the ground to the vertical pole are proposed. Finally, the feasibility of this method is proved by the simulation and experimentation of a locomotion strategy on wheeled-legged pole-climbing robots.
Full article
(This article belongs to the Topic Motion Planning and Control for Robotics)
►▼
Show Figures

Figure 1
Open AccessCommunication
An Adaptive Assistance Controller to Optimize the Exoskeleton Contribution in Rehabilitation
Robotics 2021, 10(3), 95; https://doi.org/10.3390/robotics10030095 - 24 Jul 2021
Abstract
In this paper, we present a novel adaptation rule to optimize the exoskeleton assistance in rehabilitation tasks. The proposed method adapts the exoskeleton contribution to user impairment severity without any prior knowledge about the user motor capacity. The proposed controller is a combination
[...] Read more.
In this paper, we present a novel adaptation rule to optimize the exoskeleton assistance in rehabilitation tasks. The proposed method adapts the exoskeleton contribution to user impairment severity without any prior knowledge about the user motor capacity. The proposed controller is a combination of an adaptive feedforward controller and a low gain adaptive PD controller. The PD controller guarantees the stability of the human-exoskeleton system during feedforward torque adaptation by utilizing only the human-exoskeleton joint positions as the sensory feedback for assistive torque optimization. In addition to providing a convergence proof, in order to study the performance of our method we applied it to a simplified 2-DOF model of human-arm and a generic 9-DOF model of lower limb to perform walking. In each simulated task, we implemented the impaired human torque to be insufficient for the task completion. Moreover, the scenarios that violate our convergence proof assumptions are considered. The simulation results show a converging behavior for the proposed controller; the maximum convergence time of 20 s is observed. In addition, a stable control performance that optimally supplements the remaining user motor contribution is observed; the joint angle tracking error in steady condition and its improvement compared to the start of adaptation are as follows: shoulder ( ); elbow ( ); hip ( ); knee ( ); and ankle ( ). The presented simulation results verify the robustness of proposed adaptive method in cases that differ from our mathematical assumptions and indicate its potentials to be used in practice.
Full article
(This article belongs to the Section Medical Robotics and Service Robotics)
►▼
Show Figures

Figure 1
Open AccessArticle
A Study on the Feasibility of Robotic Harvesting for Chile Pepper
Robotics 2021, 10(3), 94; https://doi.org/10.3390/robotics10030094 - 22 Jul 2021
Abstract
This paper presents a study on the robotic harvesting of New Mexico type chile pepper, in a laboratory setting, using a five degrees of freedom (DoF) serial manipulator. The end-effector of the manipulator, a scissor-type cutting mechanism, was devised and experimentally tested in
[...] Read more.
This paper presents a study on the robotic harvesting of New Mexico type chile pepper, in a laboratory setting, using a five degrees of freedom (DoF) serial manipulator. The end-effector of the manipulator, a scissor-type cutting mechanism, was devised and experimentally tested in a lab setup which cuts the chile stem to detach the fruit. Through a MATLAB™-based program, the location of the chile pepper is estimated in the robot’s reference frame, using Intel RealSense Depth Camera. The accuracy of the 3D location estimation system matches the maximum accuracy claimed by the manufacturer of the hardware, with a maximum error to be in Y-axis, which is 5.7 mm. The forward and inverse kinematics are developed, and the reachable and dexterous workspaces of the robot are studied. An application-based path planning algorithm is developed to minimize the travel for a specified harvesting task. The robotic harvesting system was able to cut the chile pepper from the plant based on 3D location estimated by MATLAB™ program. On the basis of harvesting operation, on 77 chile peppers, the following harvesting indicators were achieved: localization success rate of 37.7%, detachment success rate of 65.5%, harvest success rate of 24.7%, damage rate of 6.9%, and cycle time of 7 s.
Full article
(This article belongs to the Special Issue Advances in Agriculture and Forest Robotics)
►▼
Show Figures

Figure 1
Open AccessCommunication
Variational AutoEncoder to Identify Anomalous Data in Robots
Robotics 2021, 10(3), 93; https://doi.org/10.3390/robotics10030093 - 21 Jul 2021
Abstract
For robotic systems involved in challenging environments, it is crucial to be able to identify faults as early as possible. In challenging environments, it is not always possible to explore all of the fault space, thus anomalous data can act as a broader
[...] Read more.
For robotic systems involved in challenging environments, it is crucial to be able to identify faults as early as possible. In challenging environments, it is not always possible to explore all of the fault space, thus anomalous data can act as a broader surrogate, where an anomaly may represent a fault or a predecessor to a fault. This paper proposes a method for identifying anomalous data from a robot, whilst using minimal nominal data for training. A Monte Carlo ensemble sampled Variational AutoEncoder was utilised to determine nominal and anomalous data through reconstructing live data. This was tested on simulated anomalies of real data, demonstrating that the technique is capable of reliably identifying an anomaly without any previous knowledge of the system. With the proposed system, we obtained an F1-score of through testing.
Full article
(This article belongs to the Special Issue Advances in Robots for Hazardous Environments in the UK)
►▼
Show Figures

Figure 1
Open AccessPerspective
Contextualizing Human—Automated Vehicle Interactions: A Socio-Ecological Framework
Robotics 2021, 10(3), 92; https://doi.org/10.3390/robotics10030092 - 20 Jul 2021
Abstract
►▼
Show Figures
Automated vehicles (AVs) have given rise to a new field of study: human—automated vehicle interaction (H–AVI). Unfortunately, the H–AVI field has largely ignored the importance of context. To address this, this paper describes a socio-ecological view of H–AVI. Drawing on this view, the
[...] Read more.
Automated vehicles (AVs) have given rise to a new field of study: human—automated vehicle interaction (H–AVI). Unfortunately, the H–AVI field has largely ignored the importance of context. To address this, this paper describes a socio-ecological view of H–AVI. Drawing on this view, the author briefly discusses and identifies unexplored areas. In doing so, the author draws attention to: (i) transportation infrastructure, (ii) national and regional differences, (iii) special and vulnerable populations and (iv) the impacts of multiple H–AVI types. This paper describes the challenges and opportunities in each of these areas.
Full article

Figure 1
Open AccessArticle
The Wearable Robotic Forearm: Design and Predictive Control of a Collaborative Supernumerary Robot
by
and
Robotics 2021, 10(3), 91; https://doi.org/10.3390/robotics10030091 - 16 Jul 2021
Abstract
►▼
Show Figures
This article presents the design process of a supernumerary wearable robotic forearm (WRF), along with methods for stabilizing the robot’s end-effector using human motion prediction. The device acts as a lightweight “third arm” for the user, extending their reach during handovers and manipulation
[...] Read more.
This article presents the design process of a supernumerary wearable robotic forearm (WRF), along with methods for stabilizing the robot’s end-effector using human motion prediction. The device acts as a lightweight “third arm” for the user, extending their reach during handovers and manipulation in close-range collaborative activities. It was developed iteratively, following a user-centered design process that included an online survey, contextual inquiry, and an in-person usability study. Simulations show that the WRF significantly enhances a wearer’s reachable workspace volume, while remaining within biomechanical ergonomic load limits during typical usage scenarios. While operating the device in such scenarios, the user introduces disturbances in its pose due to their body movements. We present two methods to overcome these disturbances: autoregressive (AR) time series and a recurrent neural network (RNN). These models were used for forecasting the wearer’s body movements to compensate for disturbances, with prediction horizons determined through linear system identification. The models were trained offline on a subset of the KIT Human Motion Database, and tested in five usage scenarios to keep the 3D pose of the WRF’s end-effector static. The addition of the predictive models reduced the end-effector position errors by up to 26% compared to direct feedback control.
Full article

Figure 1
Open AccessArticle
Nonlinear Model Predictive Horizon for Optimal Trajectory Generation
by
and
Robotics 2021, 10(3), 90; https://doi.org/10.3390/robotics10030090 - 14 Jul 2021
Cited by 1
Abstract
This paper presents a trajectory generation method for a nonlinear system under closed-loop control (here a quadrotor drone) motivated by the Nonlinear Model Predictive Control (NMPC) method. Unlike NMPC, the proposed method employs a closed-loop system dynamics model within the optimization problem to
[...] Read more.
This paper presents a trajectory generation method for a nonlinear system under closed-loop control (here a quadrotor drone) motivated by the Nonlinear Model Predictive Control (NMPC) method. Unlike NMPC, the proposed method employs a closed-loop system dynamics model within the optimization problem to efficiently generate reference trajectories in real time. We call this approach the Nonlinear Model Predictive Horizon (NMPH). The closed-loop model used within NMPH employs a feedback linearization control law design to decrease the nonconvexity of the optimization problem and thus achieve faster convergence. For robust trajectory planning in a dynamically changing environment, static and dynamic obstacle constraints are supported within the NMPH algorithm. Our algorithm is applied to a quadrotor system to generate optimal reference trajectories in 3D, and several simulation scenarios are provided to validate the features and evaluate the performance of the proposed methodology.
Full article
(This article belongs to the Special Issue Navigation and Control of UAVs)
►▼
Show Figures

Figure 1
Open AccessArticle
A Multiple Level-of-Detail 3D Data Transmission Approach for Low-Latency Remote Visualisation in Teleoperation Tasks
Robotics 2021, 10(3), 89; https://doi.org/10.3390/robotics10030089 - 14 Jul 2021
Abstract
In robotic teleoperation, the knowledge of the state of the remote environment in real time is paramount. Advances in the development of highly accurate 3D cameras able to provide high-quality point clouds appear to be a feasible solution for generating live, up-to-date virtual
[...] Read more.
In robotic teleoperation, the knowledge of the state of the remote environment in real time is paramount. Advances in the development of highly accurate 3D cameras able to provide high-quality point clouds appear to be a feasible solution for generating live, up-to-date virtual environments. Unfortunately, the exceptional accuracy and high density of these data represent a burden for communications requiring a large bandwidth affecting setups where the local and remote systems are particularly geographically distant. This paper presents a multiple level-of-detail (LoD) compression strategy for 3D data based on tree-like codification structures capable of compressing a single data frame at multiple resolutions using dynamically configured parameters. The level of compression (resolution) of objects is prioritised based on: (i) placement on the scene; and (ii) the type of object. For the former, classical point cloud fitting and segmentation techniques are implemented; for the latter, user-defined prioritisation is considered. The results obtained are compared using a single LoD (whole-scene) compression technique previously proposed by the authors. Results showed a considerable improvement to the transmitted data size and updated frame rate while maintaining low distortion after decompression.
Full article
(This article belongs to the Special Issue Advances in Robots for Hazardous Environments in the UK)
►▼
Show Figures

Figure 1
Open AccessArticle
Maxwell Points of Dynamical Control Systems Based on Vertical Rolling Disc—Numerical Solutions
Robotics 2021, 10(3), 88; https://doi.org/10.3390/robotics10030088 - 12 Jul 2021
Abstract
We study two nilpotent affine control systems derived from the dynamic and control of a vertical rolling disc that is a simplification of a differential drive wheeled mobile robot. For both systems, their controllable Lie algebras are calculated and optimal control problems are
[...] Read more.
We study two nilpotent affine control systems derived from the dynamic and control of a vertical rolling disc that is a simplification of a differential drive wheeled mobile robot. For both systems, their controllable Lie algebras are calculated and optimal control problems are formulated, and their Hamiltonian systems of ODEs are derived using the Pontryagin maximum principle. These optimal control problems completely determine the energetically optimal trajectories between two states. Then, a novel numerical algorithm based on optimisation for finding the Maxwell points is presented and tested on these control systems. The results show that the use of such numerical methods can be beneficial in cases where common analytical approaches fail or are impractical.
Full article
(This article belongs to the Section Sensors and Control in Robotics)
►▼
Show Figures

Figure 1
Open AccessArticle
Smart Cleaner: A New Autonomous Indoor Disinfection Robot for Combating the COVID-19 Pandemic
Robotics 2021, 10(3), 87; https://doi.org/10.3390/robotics10030087 - 12 Jul 2021
Cited by 1
Abstract
The COVID-19 pandemic imposes an increasing demand for service robots as a substitute for humans to conduct various types of work in contaminated areas. Such work includes logistics, patient care, and disinfection, which can reduce the risk of human exposure to the highly
[...] Read more.
The COVID-19 pandemic imposes an increasing demand for service robots as a substitute for humans to conduct various types of work in contaminated areas. Such work includes logistics, patient care, and disinfection, which can reduce the risk of human exposure to the highly contagious and deadly virus. This paper presents the design and development of Smart Cleaner, which is a new cost-effective autonomous indoor disinfection robot. It integrates a wheeled mobile robot platform and a hydrogen peroxide atomization device for automated disinfection operation in the complex indoor environment. Through the system integration of various hardware components and software programming, a prototype of the disinfection robot has been fabricated for experimental investigation. A simulation study of the drymist hydrogen peroxide disinfection model was carried out to understand the diffusion of disinfectant in a room environment. The effectiveness of the developed robot was verified in practical scenarios, such as hospital, hotel, office, and laboratory. The effect of disinfection was validated by a qualified third-party testing agency. Results demonstrate the high efficiency of the developed disinfection robot dedicated to autonomous indoor disinfection work.
Full article
(This article belongs to the Special Issue Service Robotics against COVID-2019 Pandemic)
►▼
Show Figures

Figure 1
Open AccessArticle
Simulating Ionising Radiation in Gazebo for Robotic Nuclear Inspection Challenges
Robotics 2021, 10(3), 86; https://doi.org/10.3390/robotics10030086 - 07 Jul 2021
Abstract
The utilisation of robots in hazardous nuclear environments has potential to reduce risk to humans. However, historical use has been largely limited to specific missions rather than broader industry-wide adoption. Testing and verification of robotics in realistic scenarios is key to gaining stakeholder
[...] Read more.
The utilisation of robots in hazardous nuclear environments has potential to reduce risk to humans. However, historical use has been largely limited to specific missions rather than broader industry-wide adoption. Testing and verification of robotics in realistic scenarios is key to gaining stakeholder confidence but hindered by limited access to facilities that contain radioactive materials. Simulations offer an alternative to testing with actual radioactive sources, provided they can readily describe the behaviour of robotic systems and ionising radiation within the same environment. This work presents a quick and easy way to generate simulated but realistic deployment scenarios and environments which include ionising radiation, developed to work within the popular robot operating system compatible Gazebo physics simulator. Generated environments can be evolved over time, randomly or user-defined, to simulate the effects of degradation, corrosion or to alter features of certain objects. Interaction of gamma radiation sources within the environment, as well as the response of simulated detectors attached to mobile robots, is verified against the MCNP6 Monte Carlo radiation transport code. The benefits these tools provide are highlighted by inclusion of three real-world nuclear sector environments, providing the robotics community with opportunities to assess the capabilities of robotic systems and autonomous functionalities.
Full article
(This article belongs to the Special Issue Advances in Robots for Hazardous Environments in the UK)
►▼
Show Figures

Graphical abstract
Open AccessArticle
Robot-Assisted Glovebox Teleoperation for Nuclear Industry
by
, , , , , , , and
Robotics 2021, 10(3), 85; https://doi.org/10.3390/robotics10030085 - 03 Jul 2021
Cited by 1
Abstract
The nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these conditions is through the use of
[...] Read more.
The nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these conditions is through the use of gloveboxes that are sealed volumes with controlled access for performing handling. While gloveboxes allow operators to perform complex handling tasks, they put operators at considerable risk from breaking the confinement and, historically, serious examples including punctured gloves leading to lifetime doses have occurred. To date, robotic systems have had relatively little impact on the industry, even though it is clear that they offer major opportunities for improving productivity and significantly reducing risks to human health. This work presents the challenges of robotic and AI solutions for nuclear gloveboxes, and introduces a step forward for bringing cutting-edge technology to gloveboxes. The problem statement and challenges are highlighted and then an integrated demonstrator is proposed for robotic handling in nuclear gloveboxes for nuclear material handling. The proposed approach spans from tele-manipulation to shared autonomy, computer vision solutions for robotic manipulation to machine learning solutions for condition monitoring.
Full article
(This article belongs to the Special Issue Advances in Robots for Hazardous Environments in the UK)
►▼
Show Figures

Figure 1
Open AccessArticle
Model Predictive Control for Cooperative Transportation with Feasibility-Aware Policy
by
, , , , and
Robotics 2021, 10(3), 84; https://doi.org/10.3390/robotics10030084 - 30 Jun 2021
Abstract
The transportation of large payloads can be made possible with Multi-Robot Systems (MRS) implementing cooperative strategies. In this work, we focus on the coordinated MRS trajectory planning task exploiting a Model Predictive Control (MPC) framework addressing both the acting robots and the transported
[...] Read more.
The transportation of large payloads can be made possible with Multi-Robot Systems (MRS) implementing cooperative strategies. In this work, we focus on the coordinated MRS trajectory planning task exploiting a Model Predictive Control (MPC) framework addressing both the acting robots and the transported load. In this context, the main challenge is the possible occurrence of a temporary mismatch among agents’ actions with consequent formation errors that can cause severe damage to the carried load. To mitigate this risk, the coordination scheme may leverage a leader–follower approach, in which a hierarchical strategy is in place to trade-off between the task accomplishment and the dynamics and environment constraints. Nonetheless, particularly in narrow spaces or cluttered environments, the leader’s optimal choice may lead to trajectories that are infeasible for the follower and the load. To this aim, we propose a feasibility-aware leader–follower strategy, where the leader computes a reference trajectory, and the follower accounts for its own and the load constraints; moreover, the follower is able to communicate the trajectory infeasibility to the leader, which reacts by temporarily switching to a conservative policy. The consistent MRS co-design is allowed by the MPC formulation, for both the leader and the follower: here, the prediction capability of MPC is key to guarantee a correct and efficient execution of the leader–follower coordinated action. The approach is formally stated and discussed, and a numerical campaign is conducted to validate and assess the proposed scheme, with respect to different scenarios with growing complexity.
Full article
(This article belongs to the Topic Motion Planning and Control for Robotics)
►▼
Show Figures

Figure 1
Journal Menu
► ▼ Journal Menu-
- Robotics Home
- Aims & Scope
- Editorial Board
- Reviewer Board
- Topics Board
- Instructions for Authors
- Special Issues
- Sections
- Article Processing Charge
- Indexing & Archiving
- Most Cited & Viewed
- Journal Statistics
- Journal History
- Journal Awards
- Society Collaborations
- Conferences
- Editorial Office
- 10th Anniversary of Robotics
Journal Browser
► ▼ Journal BrowserHighly Accessed Articles
Latest Books
E-Mail Alert
News
Topics
Topic in
Applied Sciences, Robotics, Actuators, Machines, Applied Mechanics
Motion Planning and Control for Robotics
Editor-in-Chief: Dario RichiedeiDeadline: 31 March 2022
Conferences
Special Issues
Special Issue in
Robotics
Advances in Agriculture and Forest Robotics
Guest Editors: Antonio Valente, Antonio Moreira, José Lima, Filipe SantosDeadline: 31 August 2021
Special Issue in
Robotics
Women in Robotics
Guest Editors: Naira Hovakimyan, Anna Esposito, Sanaz MostaghimDeadline: 30 September 2021
Special Issue in
Robotics
Kinematics and Robot Design IV, KaRD2021
Guest Editor: Raffaele Di GregorioDeadline: 15 October 2021
Special Issue in
Robotics
Industrial Robotics in Industry 4.0
Guest Editors: Wilfried Lepuschitz, Markus Vincze, Thomas Meurer, Munir MerdanDeadline: 31 October 2021





