This paper presents a dynamic task planning approach for multi-arm apple-picking robots based on a deep reinforcement learning (DRL) framework incorporating Long Short-Term Memory (LSTM) networks and Proximal Policy Optimization (PPO). In the context...
Global fruit production costs are increasing amid intensified labor shortages, driving heightened interest in robotic harvesting technologies. Although multi-arm coordination in harvesting robots is considered a highly promising solution to this issu...
As the global fruit growing area continues to increase and the population aging problem continues to intensify, fruit and vegetable production is constrained by the difficulties of labor shortages and high costs. Single-arm harvesting robots are inef...
With the modernization of agricultural production, single-arm machine systems in agriculture are unable to meet the needs of future agricultural development. In order to further improve agricultural operation efficiency, the collaborative operation o...
This paper presents a real-time kinematically synchronous planning method for the collaborative manipulation of a multi-arms robot with physical coupling based on the self-organizing competitive neural network. This method defines the sub-bases for t...
In view of the difficulties of fruit cluster identification, the specific harvesting sequence constraints of aggregated fruits, and the balanced harvesting task assignment for the multiple arms with a series-increasing symmetric shared (SISS) region,...
In the future of automated production processes, the manipulator must be more efficient to complete certain tasks. Compared to single-arm robots, dual-arm robots have a larger workspace and stronger load capacity. Coordinated motion planning of multi...
The existing multi-manipulator sorting method for gangue that utilizes a multi-task allocation strategy is not satisfactory. The single manipulator working space is fixed, lowering the cooperation degree between the manipulators and leading to a low...
Robotic harvesting has become an urgent need for the development of the apple industry, due to the sharp decline in agricultural labor. At present, harvesting apples using robots in unstructured orchard environments remains a significant challenge. T...
This article addresses the problem of automating a multi-arm pick-and-place robotic system. The objective is to optimize the execution time of a task simultaneously performed by multiple robots, sharing the same workspace, and determining the order o...
Robotic arms and motion planning are key technologies that enable fruit and vegetable harvesting robots to operate autonomously while improving harvesting efficiency and operational safety. This paper reviews and analyzes the suitability of robotic a...
The discrete-serpentine heterogeneous multi-arm space robot (DSHMASR) has more advantages than single discrete space robots or single serpentine space robots in complex tasks of on-orbit servicing. However, the mechanical structure complexity of the...
Multi-target harvesting is an important direction for improving the efficiency of orchard harvesting robots and advancing their engineering deployment. Compared with single-target harvesting, multi-target harvesting is constrained by dense fruit dist...
This work proposes an online task-scheduling method using mixed-integer programming for a multi-tasking problem regarding a dual-arm cooking robot in a controlled environment. Given each task’s processing time, their location in the working spa...
This study aims to develop a multi-functional robotic arm with a multi-degree of freedom using a pneumatic artificial muscle cylinder as the main actuator, with a wearable function. While wearing the robotic arm, it has four degrees of freedom and ca...
In recent years, the utilization of dual-arm robots has gained substantial prominence across various industries owing to their collaborative operational capabilities. In order to achieve collision avoidance and facilitate cooperative task completion,...
Collaborative control of a dual-arm robot refers to collision avoidance and working together to accomplish a task. To prevent the collision of two arms, the control strategy of a robot arm needs to avoid competition and to cooperate with the other on...
With the growth of the global population and the increasing scarcity of arable land, traditional agricultural production is confronted with multiple challenges, such as efficiency improvement, precision operation, and sustainable development. The pro...
Nursing robots are designed to serve users, and their ability to interact with humans, as well as to make task-related decisions and decompositions based on such interactions, is a fundamental prerequisite for autonomous execution of nursing tasks. L...
Aiming to address problems such as low sampling success rate and long computation time in the motion planning of a dual-arm cooperative system with multiple constraints, this paper proposes an Informed-Bi-Quick RRT* algorithm based on offline samplin...
Dynamic Movement Primitives (DMPs) provide a flexible framework for robotic trajectory generation, offering adaptability, robustness to disturbances, and modulation of predefined motions. Yet achieving reliable spatial coupling among multiple DMPs in...
Robotic systems frequently need to plan consecutive similar manipulation in some scenarios (e.g., pick-and-place tasks), leading to similar motion plans. Moreover, the workspace of a robot changes with the difference in operation actions, which affec...
Achieving rapid and accurate obstacle avoidance in complex and dynamic environments remains a significant challenge for robots. To enhance the adaptability and flexibility of humanoid arms for obstacle avoidance, a brain-inspired multi-pathway motion...
Underground coal mine conveying systems operate in unstructured environments. Influenced by geological and operational factors, coal conveyors are frequently contaminated by foreign objects such as coal gangue and anchor bolts. These contaminants dis...
Pineapple harvesting in natural orchard environments faces challenges such as high occlusion rates caused by foliage and the need for complex spatial planning to guide robotic arm movement in cluttered terrains. This study proposes an innovative visu...
Symmetries play very important in the dynamics of robot systems. The relevant control of robot arm motion with fault diagnosis including the optimized fuzzy algorithm based on the error rate adjustment P, I, D value (Fuzzy PID algorithm) model relies...
This paper presents an autonomous robotic assembly system for Soma cube blocks, which, after observing the individual blocks and their assembled shape, quickly plans and executes the assembly motion sequence that picks up each block and incrementally...
In flexible manufacturing systems, the composite mobile manipulator (CMM) is subject to nonlinear inertial disturbances arising from the dynamic coupling between the mobile platform and the robotic arm. These disturbances significantly impair positio...
The International Lunar Research Station, to be established around 2030, will equip lunar rovers with robotic arms as constructors. Construction requires lunar soil and lunar rovers, for which rovers must go toward different waypoints without encount...
The escalating volume of waste electrical and electronic equipment (WEEE) poses a significant global environmental challenge. The disassembly of printed circuit boards (PCBs), a critical step for resource recovery, remains inefficient due to limitati...
Stepper-motor-driven Selective Compliance Assembly Robot Arms are susceptible to motion control challenges under short-stroke and high-frequency start–stop conditions, including high sensitivity to pulse timing, difficulty in multi-joint coordi...
This paper presents the potential of combining ROS (Robot Operating System), its state-of-art software, and EtherCAT technologies to design real-time robot control architecture for human–robot collaboration. For this, the advantages of an ROS framewo...
Automated feeding in cage-based rabbit production is challenging because cage geometry and limited workspace require a compact manipulator with sufficient reach, low mass, and reliable task-level positioning. This study developed a lightweight five-d...
Driven by Industry 5.0, efficient obstacle avoidance of robotic arms in dynamic environments is a key bottleneck for human–robot collaboration in smart manufacturing. Traditional path planning methods such as Rapidly-exploring Random Tree and artific...
Robotic grasping based on monocular vision remains challenging due to perception uncertainty, pixel-to-world mapping errors, and a tight per-frame budget. This paper presents a lightweight vision-based multi-object robotic grasping framework that int...
This paper proposes a full-size and free-flying humanoid robot named Taikobot that aims to assist astronauts in a space station and maintain spacecrafts between human visits. Taikobot adopts a compact and lightweight (∼25 kg) design to work in mi...
This paper introduces the overall design plan, development timeline, and preliminary progress of the Autonomous Pit Exploration System project. This project aims to develop an advanced multi-robot system for the efficient inspection of nuclear waste-...
Student Psychology-Based Optimization (SPBO) provides a simple human-inspired search framework, but its dependence on random subject-wise learning behaviors, limited peer interaction, and insufficient utilization of historical information may restric...
Addressing the issue of fruit recognition and localization failures in harvesting robots due to severe occlusion by branches and leaves in complex orchard environments, this paper proposes an occlusion avoidance method that combines a lightweight YOL...
The prevalence of business-to-business (B2B) has made the relationship among firms more closer than ever. Whether in simple arm-length transactions or business cooperation, many firms, in order to reduce costs and achieve efficiency, have shifted the...