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Symmetry
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Symmetry in Robot Design and Application
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Symmetry in Robot Design and Application

A special issue of Symmetry (ISSN 2073-8994). This special issue belongs to the section "Engineering and Materials".

Deadline for manuscript submissions: closed (31 October 2024) | Viewed by 3835

Special Issue Editors

Dr. Jin Tao

E-Mail Website
Guest Editor
1. Department of Electrical Engineering and Automation, Aalto University, 02150 Espoo, Finland
2. Senior AI Scientist at Silo AI, 00100 Helsinki , Finland
Interests: complex system dynamics; intelligent control; reinforcement learning; deep learning; robotics
Special Issues, Collections and Topics in MDPI journals
Dr. Yumin Zheng

E-Mail Website
Co-Guest Editor
College of Artificial Intelligence, Nankai University, Tianjin 300350, China
Interests: Intelligent control of dynamic complex systems; active disturbance rejection control; application of deep reinforcement learning algorithms; tracking control of unmanned vehicles

Special Issue Information

Dear Colleagues,

It is our pleasure to announce a new Special Issue, “Symmetry in Robot Design and Application”, of the journal Symmetry. This Special Issue welcomes contributions that investigate various aspects of symmetry in robot design, ranging from theoretical frameworks to practical applications. In the field of robotics, symmetry involves properties such as geometric symmetry, task execution symmetry, and control symmetry. Considering symmetry when designing robots can bring several advantages, such as simplifying control algorithms, improving stability, and reducing system design complexity. Through this Special Issue, we aspire to highlight how the exploration of symmetry can deepen our comprehension of scientific challenges while propelling advancements in robotics technology. We welcome submissions that elucidate novel insights into symmetry-driven design principles, innovative methodologies in robotic systems, and case studies demonstrating the practical benefits of symmetry in diverse application domains.

Dr. Jin Tao
Dr. Yumin Zheng
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. Symmetry 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

  • symmetry analysis
  • control of robot systems
  • multi-robot
  • robot design
  • numerical simulations

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

Published Papers (3 papers)

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Research

12 pages, 3415 KiB  
Article
Dynamics and Stability Analysis for Rope-Driven Bridge Pier Damage Detection Robot
by Xiaoyu Zhang, Junjie Xie, Yanlin Wang, Hui Dou, Yuan He and Keke Zhou
Symmetry 2025, 17(1), 74; https://doi.org/10.3390/sym17010074 - 5 Jan 2025
Viewed by 591
Abstract
In order to solve the limitations of the existing bridge pier damage detection equipment, a rope-driven bridge pier damage detection robot (RDBPDR) is proposed. Firstly, the composition of the RDBPDR system was introduced. Secondly, the kinematical and dynamical model of the RDBPDR was [...] Read more.
In order to solve the limitations of the existing bridge pier damage detection equipment, a rope-driven bridge pier damage detection robot (RDBPDR) is proposed. Firstly, the composition of the RDBPDR system was introduced. Secondly, the kinematical and dynamical model of the RDBPDR was established, and the optimization model of rope tension was given. Based on the dynamic model, the evaluation method and index of the stability of the RDBPDR were given. Finally, the distribution of the stability evaluation index of the RDBPDR in the workspace was clarified with an example calculation and analysis. The results show that the stability of the RDBPR gradually decreases from the geometric center to the boundary area in the horizontal section. With the increase in the height of the damage detection platform, the stability of the RDBPDR gradually increases in the vertical direction, but this change is not significant. It provides a basis for detection task planning, overall structure configuration, and prototype testing in the future. Full article
(This article belongs to the Special Issue Symmetry in Robot Design and Application)
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14 pages, 2468 KiB  
Article
Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units
by Can Qian, Kaisheng Yang, Yangfei Ruan, Junhao Hu, Zixuan Shao, Chongchong Wang and Chuanqi Xie
Symmetry 2024, 16(7), 829; https://doi.org/10.3390/sym16070829 - 2 Jul 2024
Viewed by 1443
Abstract
Collaborative robots are used in scenarios requiring interaction with humans. In order to improve the safety and adaptability of collaborative robots during human–robot interaction, this paper proposes a modular wire-actuated robotic arm with symmetric variable-stiffness units. The variable-stiffness unit is employed to extend [...] Read more.
Collaborative robots are used in scenarios requiring interaction with humans. In order to improve the safety and adaptability of collaborative robots during human–robot interaction, this paper proposes a modular wire-actuated robotic arm with symmetric variable-stiffness units. The variable-stiffness unit is employed to extend the stiffness-adjustment range of the robotic arm. The variable-stiffness unit is designed based on flexure, featuring a compact and simple structure. The stiffness–force relationship of the variable-stiffness unit can be fitted by a quadratic function with an R-squared value of 0.99981, indicating weak nonlinearity. Based on the kinematics and stiffness analysis of the symmetric joint module of the robotic arm, the orientation of the joint module can be adjusted by regulating the length of the wires and the stiffness of the joint module can be adjusted by regulating the tension of the wires. Because of the actuation redundancy, the orientation and stiffness of the joint module can be adjusted synchronously. Furthermore, a direct method is proposed for the stiffness-oriented wire-tension-distribution problem of the 1-DOF joint module. A simulation is carried out to verify the proposed method. The simulation result shows that the deviation between the calculated stiffness and the desired stiffness was less than 0.005%. Full article
(This article belongs to the Special Issue Symmetry in Robot Design and Application)
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12 pages, 4832 KiB  
Article
Fault-Tolerant Phototaxis of a Modular System Inspired by Gonium pectorale Using Phase-Based Control
by Kohei Nishikawa, Yuki Origane, Hiroki Etchu and Daisuke Kurabayashi
Symmetry 2024, 16(5), 630; https://doi.org/10.3390/sym16050630 - 19 May 2024
Viewed by 1109
Abstract
In this study, we proposed a model for modular robots in which autonomous decentralized modules adaptively organize their behavior. The phototaxis of Gonium pectorale, a species of volvocine algae, was modeled as a modular system, and a fault-tolerant modular control method of [...] Read more.
In this study, we proposed a model for modular robots in which autonomous decentralized modules adaptively organize their behavior. The phototaxis of Gonium pectorale, a species of volvocine algae, was modeled as a modular system, and a fault-tolerant modular control method of phototaxis was proposed for it. The proposed method was based on the rotation phase of the colony and adaptively adjusted an internal response-related parameter to enhance the fault tolerance of the system. Compared to a constant parameter approach, the simulation results demonstrated a significant improvement in the phototaxis time for positive and negative phototaxis during module failures. This method contributes to achieving autonomous, decentralized, and purposeful mediation of the modules necessary for controlling modular robots. Full article
(This article belongs to the Special Issue Symmetry in Robot Design and Application)
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