Robotics

23 pages, 4993 KiB

Open AccessEditor’s ChoiceReview

Localization and Mapping for Robots in Agriculture and Forestry: A Survey

by André Silva Aguiar, Filipe Neves dos Santos, José Boaventura Cunha, Héber Sobreira and Armando Jorge Sousa

Robotics 2020, 9(4), 97; https://doi.org/10.3390/robotics9040097 - 21 Nov 2020

Cited by 104 | Viewed by 13626

Abstract

Research and development of autonomous mobile robotic solutions that can perform several active agricultural tasks (pruning, harvesting, mowing) have been growing. Robots are now used for a variety of tasks such as planting, harvesting, environmental monitoring, supply of water and nutrients, and others. [...] Read more.

Research and development of autonomous mobile robotic solutions that can perform several active agricultural tasks (pruning, harvesting, mowing) have been growing. Robots are now used for a variety of tasks such as planting, harvesting, environmental monitoring, supply of water and nutrients, and others. To do so, robots need to be able to perform online localization and, if desired, mapping. The most used approach for localization in agricultural applications is based in standalone Global Navigation Satellite System-based systems. However, in many agricultural and forest environments, satellite signals are unavailable or inaccurate, which leads to the need of advanced solutions independent from these signals. Approaches like simultaneous localization and mapping and visual odometry are the most promising solutions to increase localization reliability and availability. This work leads to the main conclusion that, few methods can achieve simultaneously the desired goals of scalability, availability, and accuracy, due to the challenges imposed by these harsh environments. In the near future, novel contributions to this field are expected that will help one to achieve the desired goals, with the development of more advanced techniques, based on 3D localization, and semantic and topological mapping. In this context, this work proposes an analysis of the current state-of-the-art of localization and mapping approaches in agriculture and forest environments. Additionally, an overview about the available datasets to develop and test these approaches is performed. Finally, a critical analysis of this research field is done, with the characterization of the literature using a variety of metrics. Full article

(This article belongs to the Special Issue Advances in Agriculture and Forest Robotics)

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19 pages, 23753 KiB

Open AccessEditor’s ChoiceArticle

Simulation of an Autonomous Mobile Robot for LiDAR-Based In-Field Phenotyping and Navigation

by Jawad Iqbal, Rui Xu, Shangpeng Sun and Changying Li

Robotics 2020, 9(2), 46; https://doi.org/10.3390/robotics9020046 - 21 Jun 2020

Cited by 81 | Viewed by 22516

Abstract

The agriculture industry is in need of substantially increasing crop yield to meet growing global demand. Selective breeding programs can accelerate crop improvement but collecting phenotyping data is time- and labor-intensive because of the size of the research fields and the frequency of [...] Read more.

The agriculture industry is in need of substantially increasing crop yield to meet growing global demand. Selective breeding programs can accelerate crop improvement but collecting phenotyping data is time- and labor-intensive because of the size of the research fields and the frequency of the work required. Automation could be a promising tool to address this phenotyping bottleneck. This paper presents a Robotic Operating System (ROS)-based mobile field robot that simultaneously navigates through occluded crop rows and performs various phenotyping tasks, such as measuring plant volume and canopy height using a 2D LiDAR in a nodding configuration. The efficacy of the proposed 2D LiDAR configuration for phenotyping is assessed in a high-fidelity simulated agricultural environment in the Gazebo simulator with an ROS-based control framework and compared with standard LiDAR configurations used in agriculture. Using the proposed nodding LiDAR configuration, a strategy for navigation through occluded crop rows is presented. The proposed LiDAR configuration achieved an estimation error of 6.6% and 4% for plot volume and canopy height, respectively, which was comparable to the commonly used LiDAR configurations. The hybrid strategy with GPS waypoint following and LiDAR-based navigation was used to navigate the robot through an agricultural crop field successfully with an root mean squared error of 0.0778 m which was 0.2% of the total traveled distance. The presented robot simulation framework in ROS and optimized LiDAR configuration helped to expedite the development of the agricultural robots, which ultimately will aid in overcoming the phenotyping bottleneck. Full article

(This article belongs to the Section Agricultural and Field Robotics)

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12 pages, 2679 KiB

Open AccessEditor’s ChoiceArticle

Collection and Analysis of Human Upper Limbs Motion Features for Collaborative Robotic Applications

by Elisa Digo, Mattia Antonelli, Valerio Cornagliotto, Stefano Pastorelli and Laura Gastaldi

Robotics 2020, 9(2), 33; https://doi.org/10.3390/robotics9020033 - 11 May 2020

Cited by 20 | Viewed by 4951

Abstract

(1) Background: The technologies of Industry 4.0 are increasingly promoting an operation of human motion prediction for improvement of the collaboration between workers and robots. The purposes of this study were to fuse the spatial and inertial data of human upper limbs for [...] Read more.

(1) Background: The technologies of Industry 4.0 are increasingly promoting an operation of human motion prediction for improvement of the collaboration between workers and robots. The purposes of this study were to fuse the spatial and inertial data of human upper limbs for typical industrial pick and place movements and to analyze the collected features from the future perspective of collaborative robotic applications and human motion prediction algorithms. (2) Methods: Inertial Measurement Units and a stereophotogrammetric system were adopted to track the upper body motion of 10 healthy young subjects performing pick and place operations at three different heights. From the obtained database, 10 features were selected and used to distinguish among pick and place gestures at different heights. Classification performances were evaluated by estimating confusion matrices and F1-scores. (3) Results: Values on matrices diagonals were definitely greater than those in other positions. Furthermore, F1-scores were very high in most cases. (4) Conclusions: Upper arm longitudinal acceleration and markers coordinates of wrists and elbows could be considered representative features of pick and place gestures at different heights, and they are consequently suitable for the definition of a human motion prediction algorithm to be adopted in effective collaborative robotics industrial applications. Full article

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16 pages, 1368 KiB

Open AccessEditor’s ChoiceArticle

A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

by Dingxin Ge, Yongchen Tang, Shugen Ma, Takahiro Matsuno and Chao Ren

Robotics 2020, 9(2), 26; https://doi.org/10.3390/robotics9020026 - 13 Apr 2020

Cited by 30 | Viewed by 9227

Abstract

This paper proposes a pressing method for wall-climbing robots to prevent them from falling. In order to realize the method, the properties of the utilized suction cup are studied experimentally. Then based on the results, a guide rail is designed to distribute the [...] Read more.

This paper proposes a pressing method for wall-climbing robots to prevent them from falling. In order to realize the method, the properties of the utilized suction cup are studied experimentally. Then based on the results, a guide rail is designed to distribute the attached suction cup force and implement the pressing method. A prototype of a wall-climbing robot that utilizes passive suction cups and one motor is used to demonstrate the proposed method. An experimental test-bed is designed to measure the force changes of the suction cup when the robot climbs upwards. The experimental results validate that the suction cup can completely attach to the surface by the proposed method, and demonstrate that the robot can climb upwards without falling. Full article

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35 pages, 3632 KiB

Open AccessEditor’s ChoiceReview

A Review on Design of Upper Limb Exoskeletons

by Muhammad Ahsan Gull, Shaoping Bai and Thomas Bak

Robotics 2020, 9(1), 16; https://doi.org/10.3390/robotics9010016 - 17 Mar 2020

Cited by 326 | Viewed by 42794

Abstract

Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research. The technology promises to improve the upper-limb functionalities required for performing activities of daily living. The exoskeleton technology is evolving quickly but still needs interdisciplinary research [...] Read more.

Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research. The technology promises to improve the upper-limb functionalities required for performing activities of daily living. The exoskeleton technology is evolving quickly but still needs interdisciplinary research to solve technical challenges, e.g., kinematic compatibility and development of effective human–robot interaction. In this paper, the recent development in upper-limb exoskeletons is reviewed. The key challenges involved in the development of assistive exoskeletons are highlighted by comparing available solutions. This paper provides a general classification, comparisons, and overview of the mechatronic designs of upper-limb exoskeletons. In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included. Full article

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16 pages, 9384 KiB

Open AccessEditor’s ChoiceArticle

Design of a UGV Powered by Solar Energy for Precision Agriculture

by Giuseppe Quaglia, Carmen Visconte, Leonardo Sabatino Scimmi, Matteo Melchiorre, Paride Cavallone and Stefano Pastorelli

Robotics 2020, 9(1), 13; https://doi.org/10.3390/robotics9010013 - 13 Mar 2020

Cited by 50 | Viewed by 14042

Abstract

In this paper, a novel UGV (unmanned ground vehicle) for precision agriculture, named “Agri.q,” is presented. The Agri.q has a multiple degrees of freedom positioning mechanism and it is equipped with a robotic arm and vision sensors, which allow to challenge irregular terrains [...] Read more.

In this paper, a novel UGV (unmanned ground vehicle) for precision agriculture, named “Agri.q,” is presented. The Agri.q has a multiple degrees of freedom positioning mechanism and it is equipped with a robotic arm and vision sensors, which allow to challenge irregular terrains and to perform precision field operations with perception. In particular, the integration of a 7 DOFs (degrees of freedom) manipulator and a mobile frame results in a reconfigurable workspace, which opens to samples collection and inspection in non-structured environments. Moreover, Agri.q mounts an orientable landing platform for drones which is made of solar panels, enabling multi-robot strategies and solar power storage, with a view to sustainable energy. In fact, the device will assume a central role in a more complex automated system for agriculture, that includes the use of UAV (unmanned aerial vehicle) and UGV for coordinated field monitoring and servicing. The electronics of the device is also discussed, since Agri.q should be ready to send-receive data to move autonomously or to be remotely controlled by means of dedicated processing units and transmitter-receiver modules. This paper collects all these elements and shows the advances of the previous works, describing the design process of the mechatronic system and showing the realization phase, whose outcome is the physical prototype. Full article

(This article belongs to the Special Issue Advances in Robotics and Mechatronics)

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14 pages, 1707 KiB

Open AccessEditor’s ChoiceReview

A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type

by Raffaele Di Gregorio

Robotics 2020, 9(1), 5; https://doi.org/10.3390/robotics9010005 - 13 Jan 2020

Cited by 26 | Viewed by 7169

Abstract

Various 3-UPU architectures feature two rigid bodies connected to one another through three kinematic chains (limbs) of universal–prismatic–universal (UPU) type. They were first proposed in the last decade of the 20th century and have animated discussions among researchers for more-or-less two decades. Such [...] Read more.

Various 3-UPU architectures feature two rigid bodies connected to one another through three kinematic chains (limbs) of universal–prismatic–universal (UPU) type. They were first proposed in the last decade of the 20th century and have animated discussions among researchers for more-or-less two decades. Such discussions brought to light many features of lower-mobility parallel manipulators (PMs) that were unknown until then. The discussions also showed that such architectures may be sized into translational PMs, parallel wrists, or even reconfigurable (metamorphic) PMs. Even though commercial robots with these architectures have not yet been built, the interest in them remains. Consequently, a review of the literature on these architectures, highlighting their contribution to the progress of lower-mobility PM design, is still of interest for the scientific community. This paper aims at presenting a critical review of the results that have been obtained up until now. Full article

(This article belongs to the Special Issue Kinematics and Robot Design II, KaRD2019)

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25 pages, 3078 KiB

Open AccessEditor’s ChoiceReview

Human–Robot Collaboration in Manufacturing Applications: A Review

by Eloise Matheson, Riccardo Minto, Emanuele G. G. Zampieri, Maurizio Faccio and Giulio Rosati

Robotics 2019, 8(4), 100; https://doi.org/10.3390/robotics8040100 - 6 Dec 2019

Cited by 483 | Viewed by 49841

Abstract

This paper provides an overview of collaborative robotics towards manufacturing applications. Over the last decade, the market has seen the introduction of a new category of robots—collaborative robots (or “cobots”)—designed to physically interact with humans in a shared environment, without the typical barriers [...] Read more.

This paper provides an overview of collaborative robotics towards manufacturing applications. Over the last decade, the market has seen the introduction of a new category of robots—collaborative robots (or “cobots”)—designed to physically interact with humans in a shared environment, without the typical barriers or protective cages used in traditional robotics systems. Their potential is undisputed, especially regarding their flexible ability to make simple, quick, and cheap layout changes; however, it is necessary to have adequate knowledge of their correct uses and characteristics to obtain the advantages of this form of robotics, which can be a barrier for industry uptake. The paper starts with an introduction of human–robot collaboration, presenting the related standards and modes of operation. An extensive literature review of works published in this area is undertaken, with particular attention to the main industrial cases of application. The paper concludes with an analysis of the future trends in human–robot collaboration as determined by the authors. Full article

(This article belongs to the Special Issue Advances in Italian Robotics)

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21 pages, 2462 KiB

Open AccessEditor’s ChoiceArticle

Nonlinear Model Predictive Control for Mobile Robot Using Varying-Parameter Convergent Differential Neural Network

by Yingbai Hu, Hang Su, Longbin Zhang, Shu Miao, Guang Chen and Alois Knoll

Robotics 2019, 8(3), 64; https://doi.org/10.3390/robotics8030064 - 31 Jul 2019

Cited by 29 | Viewed by 10674

Abstract

The mobile robot kinematic model is a nonlinear affine system, which is constrained by velocity and acceleration limits. Therefore, the traditional control methods may not solve the tracking problem because of the physical constraint. In this paper, we present the nonlinear model predictive [...] Read more.

The mobile robot kinematic model is a nonlinear affine system, which is constrained by velocity and acceleration limits. Therefore, the traditional control methods may not solve the tracking problem because of the physical constraint. In this paper, we present the nonlinear model predictive control (NMPC) algorithm to track the desired trajectory based on neural-dynamic optimization. In the proposed algorithm, the NMPC scheme utilizes a new neural network named the varying-parameter convergent differential neural network (VPCDNN) which is a Hopfifield-neural network structure with respect to the differential equation theory to solve the quadratic programming (QP) problem. The new network structure converges to the global optimal solution and it is more efficient than traditional numerical methods. In the simulation, we verify that the proposed method is able to successfully track reference trajectories with a two-wheel mobile robot. The experimental validation has been conducted in simulation and the results show that the proposed method is able to precisely track the trajectory maintaining a high robustness based on the VPCDNN solver. Full article

(This article belongs to the Special Issue Robotics and Automation Engineering)

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24 pages, 2687 KiB

Open AccessEditor’s ChoiceArticle

Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments

by Manuel Bandala, Craig West, Stephen Monk, Allahyar Montazeri and C. James Taylor

Robotics 2019, 8(2), 42; https://doi.org/10.3390/robotics8020042 - 4 Jun 2019

Cited by 47 | Viewed by 12384

Abstract

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 and orientation of the manipulators. To improve [...] Read more.

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 and orientation of the manipulators. To improve on the current joystick direct tele-operation commonly used as standard in the nuclear industry, which is slow and requires extensive operator training, the proposed assisted tele-operation makes use of a single camera mounted on the robot. Focusing on pipe cutting as an example, the new system ensures that one manipulator automatically grasps the user-selected pipe, and appropriately positions the second for a cutting operation. Initial laboratory testing (using a plastic pipe) shows the efficacy of the approach for positioning the manipulators, and suggests that for both experienced and inexperienced users, the task is completed significantly faster than via tele-operation. Full article

(This article belongs to the Special Issue Robotics in Extreme Environments)

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14 pages, 14306 KiB

Open AccessEditor’s ChoiceArticle

Extending the Application of an Assistant Personal Robot as a Walk-Helper Tool

by Jordi Palacín, Eduard Clotet, Dani Martínez, David Martínez and Javier Moreno

Robotics 2019, 8(2), 27; https://doi.org/10.3390/robotics8020027 - 10 Apr 2019

Cited by 26 | Viewed by 6823

Abstract

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 [...] Read more.

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 guidance to people while they walk. This functionality is presented as a soft walking aid at home but not as a substitute of an assistive cane or a walker device, which may withstand higher weights and provide better stability during a walking. The APR operates as a walk-helper tool by providing user interaction using the original arms of the mobile robot and by using the onboard sensors of the mobile robot in order to avoid obstacles and guide the walking through free areas. The results of the experiments conducted with the walk-helper have showed the automatic generation of smooth walking trajectories and a reduction in the number of manual trajectory corrections required to complete a walking displacement. Full article

(This article belongs to the Special Issue Recent Advances on Physical Agents)

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15 pages, 7652 KiB

Open AccessEditor’s ChoiceArticle

V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints

by Younsse Ayoubi, Med Amine Laribi, Said Zeghloul and Marc Arsicault

Robotics 2019, 8(1), 18; https://doi.org/10.3390/robotics8010018 - 6 Mar 2019

Cited by 12 | Viewed by 7166

Abstract

Unlike “classical” industrial robots, collaborative robots, known as cobots, implement a compliant behavior. Cobots ensure a safe force control in a physical interaction scenario within unknown environments. In this paper, we propose to make serial robots intrinsically compliant to guarantee safe physical human–robot [...] Read more.

Unlike “classical” industrial robots, collaborative robots, known as cobots, implement a compliant behavior. Cobots ensure a safe force control in a physical interaction scenario within unknown environments. In this paper, we propose to make serial robots intrinsically compliant to guarantee safe physical human–robot interaction (pHRI), via our novel designed device called V2SOM, which stands for Variable Stiffness Safety-Oriented Mechanism. As its name indicates, V2SOM aims at making physical human–robot interaction safe, thanks to its two basic functioning modes—high stiffness mode and low stiffness mode. The first mode is employed for normal operational routines. In contrast, the low stiffness mode is suitable for the safe absorption of any potential blunt shock with a human. The transition between the two modes is continuous to maintain a good control of the V2SOM-based cobot in the case of a fast collision. V2SOM presents a high inertia decoupling capacity which is a necessary condition for safe pHRI without compromising the robot’s dynamic performances. Two safety criteria of pHRI were considered for performance evaluations, namely, the impact force (ImpF) criterion and the head injury criterion (HIC) for, respectively, the external and internal damage evaluation during blunt shocks. Full article

(This article belongs to the Special Issue Mechanism Design for Robotics)

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14 pages, 528 KiB

Open AccessEditor’s ChoiceArticle

Trajectory Design for Energy Savings in Redundant Robotic Cells

by Paolo Boscariol and Dario Richiedei

Robotics 2019, 8(1), 15; https://doi.org/10.3390/robotics8010015 - 20 Feb 2019

Cited by 18 | Viewed by 7317

Abstract

This work explores the possibility of exploiting kinematic redundancy as a tool to enhance the energetic performance of a robotic cell. The test case under consideration comprises a three-degree-of-freedom Selective Compliance Assembly Robot Arm (SCARA) robot and an additional linear unit that is [...] Read more.

This work explores the possibility of exploiting kinematic redundancy as a tool to enhance the energetic performance of a robotic cell. The test case under consideration comprises a three-degree-of-freedom Selective Compliance Assembly Robot Arm (SCARA) robot and an additional linear unit that is used to move the workpiece during a pick and place operation. The trajectory design is based on a spline interpolation of a sequence of via-points: The corresponding motion of the joints is used to evaluate, through the use of an inverse dynamic model, the actuators effort and the associated power consumption by the robot and by the linear unit. Numerical results confirm that the suggested method can improve both the execution time and the overall energetic efficiency of the cell. Full article

(This article belongs to the Special Issue Mechanism Design for Robotics)

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16 pages, 13321 KiB

Open AccessEditor’s ChoiceArticle

Non-Photorealistic Rendering Techniques for Artistic Robotic Painting

by Lorenzo Scalera, Stefano Seriani, Alessandro Gasparetto and Paolo Gallina

Robotics 2019, 8(1), 10; https://doi.org/10.3390/robotics8010010 - 11 Feb 2019

Cited by 33 | Viewed by 11443

Abstract

In this paper, we present non-photorealistic rendering techniques that are applied together with a painting robot to realize artworks with original styles. Our robotic painting system is called Busker Robot and it has been considered of interest in recent art fairs and international [...] Read more.

In this paper, we present non-photorealistic rendering techniques that are applied together with a painting robot to realize artworks with original styles. Our robotic painting system is called Busker Robot and it has been considered of interest in recent art fairs and international exhibitions. It consists of a six degree-of-freedom collaborative robot and a series of image processing and path planning algorithms. In particular, here, two different rendering techniques are presented and a description of the experimental set-up is carried out. Finally, the experimental results are discussed by analyzing the elements that can account for the aesthetic appreciation of the artworks. Full article

(This article belongs to the Special Issue Mechanism Design for Robotics)

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