In this paper, the problem of fault-tolerant control of actuators for multi-joint robots is studied. Aiming at the jitter problem in the design of fault-tolerant control law for conventional sliding mode controllers (SMC), a controller design method...
Energy is one of the primary challenges in the long-term operation of robotic fish. The research on combining wave energy-harvesting technology with robotic fish for energy supplementation is not extensive, and there is insufficient comprehensive ana...
Multi-joint hydraulic robotic arms are core equipment in intelligent mining, yet their performance is often limited by strong dynamic coupling and nonlinear hydraulic effects. Traditional control methods struggle to achieve high-precision trajectory...
In this paper, we present a modelling, dynamic analysis, and controller tuning comparison for a five-degree-of-freedom (DoF) multi-joint robotic arm based on the Lyapunov-based Adaptive Controller (LAC). In most pick-and-place applications of robotic...
Composite materials have attracted significant attention with regard to the manufacturing of structures that require weight reduction, such as automobiles and aircraft, because they are more resistant to corrosion and fatigue than conventional metal...
The tracked-wheeled mobile robot has gained significant attention in military, agricultural, construction, and other fields due to its exceptional mobility and off-road capabilities. Therefore, it is an ideal choice for reconnaissance and exploration...
This work proposes a modular learning framework (MIRA) for rehabilitation robots based on a new deep recurrent neural network (RNN) that achieves adaptive multi-joint motion imitation. The RNN is fed with the fundamental frequencies as well as the ra...
Industrial robots typically perform a variety of tasks and occupy critical positions in modern manufacturing fields. When certain failures occur in the internal structures of robots, it tends to result in significant financial loss and the consumptio...
To effectively interact with people, social robots need to perceive human behaviors and in turn display their own behaviors using social communication modes such as gestures. The modeling of gestures can be difficult due to the high dimensionality of...
The idea of developing a multi-joint rehabilitation robot is to satisfy the demands for recovery of lower limb functionality in hemiplegic impairments and assist the physiotherapists with their therapy plans. This work aims at to implement the Lyapun...
In this paper, adaptive fault-tolerant control for multi-joint robot manipulators is proposed through the combination of synchronous techniques and neural networks. By using a synchronization technique, the position error at each joint simultaneously...
Currently, the most prevalent surgical treatment method is laparoscopic surgery. Robotic surgery has many advantages over laparoscopic surgery. Therefore, robotic surgery technology is currently constantly evolving. The advantages of robotic surgery...
The workspace of a robot provides the necessary constraint information for path planning and reliable control of the robot. In this paper, a workspace visualization method for a multijoint industrial robot is proposed to obtain a detailed workspace b...
The use of multi-joint arms in a high-spindle environment can solve complex problems, but the singularity problem of the manipulator related to the structure of the serial manipulator is prominent. Therefore, based on the general mathematical model o...
To precisely achieve a series of daily finger bending motions, a soft robotic finger corresponding to the anatomical range of each joint was designed in this study with multi-material pneumatic actuators. The actuator as a biomimetic artificial joint...
In this paper, the dynamics-based high-performance robot motion control technology has been mainly studied, and the overall structure is controlled via dynamics forward, given the nonlinearity, strong coupling and time-variability of robots. Consider...
It is necessary to control the movement of a complex multi-joint structure such as a robotic arm in order to reach a target position accurately in various applications. In this paper, a hybrid optimal Genetic–Swarm solution for the Inverse Kinematic...
This study proposes a novel fuzzy disturbance observer (FDO)-augmented adaptive nonsingular terminal sliding mode control (NTSMC) framework for multi-joint robotic manipulators, addressing critical challenges in trajectory tracking precision and dist...
Quadruped robots are receiving great attention as a new means of transportation for various purposes, such as military, welfare, and rehabilitation systems. The use of four legs enables a robustly stable gait; compared to the humanoid robots, the qua...
This paper deals with the mechatronic design of a novel self-sensing motor-to-joint transmission to be used for the actuation of robotic dexterous manipulators. Backdrivability, mechanical simplicity and efficient flexure joint structures are key con...
In rehabilitation, physicians plan lower-limb exercises via linear guidance. Ensuring efficacy and safety, they design patient-specific paths, carefully plotting smooth trajectories to minimize jerks. Replicating their precision in robotics is a majo...
Robotic mobile fulfillment systems have become an integral part of e-commerce warehouses. The pod repositioning problem, due to its interdependence with robot task allocation strategies, poses a significant challenge that constrains system performanc...
Robot joints driven by permanent magnet synchronous motors (PMSM) often cannot have both superior accuracy and rapidity when they track target signals. The robot joints have fine dynamic characteristics and poor steady-state characteristics when the...
Traditional end-effector robots for arm rehabilitation are usually attached at the hand, primarily focusing on coordinated multi-joint training. Therapy at an individual joint level of the arm for severely impaired stroke survivors is not always poss...
Aiming at the nonlinear expansion/contraction drive problem between different cables in multi-joint cable drive mechanisms, a mechanical drive method based on a non-circular gear drive was proposed, which could replace the servo-sensing control syste...
Due to their advantages of good stability, adaptability, and flexibility, multi-legged robots are increasingly important in fields such as rescue, military, and healthcare. This study focuses on the millipede, a multi-segmented organism, and designs...
Autonomous weeding robots need to accurately detect the joint stem of grassland weeds in order to control those weeds in an effective and energy-efficient manner. In this work, keypoints on joint stems and bounding boxes around weeds in grasslands ar...
Genu recurvatum (knee hyperextension) is a common problem after stroke. It is important to promote the coordination between knee and ankle movements during gait; however, no study has investigated how multi-joint assistance affects genu recurvatum. W...
We address the problems in the trajectory tracking control of a multi-joint robotic arm, including uncertainty in the internal modeling of its significant external unknown time-varying disturbances. With the control objective of tracking the desired...
Rowing motion with paired propellers is an essential actuation mechanism for swimming robots. Previous work in this field has typically employed flexible propellers to generate a net thrust or torque by using changes in the compliance values of flexi...
Fault-tolerant control for bionic robotic fish presents significant challenges due to the complex dynamics and asymmetric propulsion introduced by joint failures. To address this issue, this paper proposes a fault-tolerant following control framework...
The efficiency of helical locomotion in snake-like robots along high-voltage transmission lines is often hindered by low motion efficiency, high joint signal noise, and challenges in traversing obstacles. This study aims to address these issues by pr...
Hydraulic lower limb exoskeletons are wearable robotic systems, which can help people carry heavy loads. Recently, underactuated exoskeletons with some passive joints have been developed in large numbers for the purpose of decreasing the weight and e...
This paper introduces a hypergraph-based formalism for modeling kinematic and dynamic structures in robotics, addressing limitations of the existing formats such as Unified Robot Description Format (URDF), MuJoCo-XML, and Simulation Description Forma...
Human intention recognition belongs to the algorithm basis for exoskeleton robots to generate synergic movements and provide corresponding assistance. In this article, we acquire and analyze the mechanomyography (MMG) to estimate the current joint to...
This paper presents the design and experimental evaluation of a bio-inspired gecko robot, focusing on mechanical design, vision-based obstacle perception, and rhythmic locomotion control as enabling technologies for future obstacle avoidance in compl...
Robotic exoskeletons have great potential in the medical rehabilitation and augmentation of human performance in a variety of tasks. Proposing effective and adaptive control strategies is one of the most challenging issues for exoskeleton systems to...
With the in-depth study of the unique flight ability of bats in the field of bionic robots, wind-tunnel experiments have become an important means to verify the feasibility of bat-like flying robot structures. However, due to the complex structure of...
A method for measuring multi-joint finger trajectories is proposed using MediaPipe. In this method, a high-speed camera is used to record finger movements. Subsequently, the recorded finger movement data are input into MediaPipe, where the system aut...
Frogs are vertebrate amphibians with both efficient swimming and jumping abilities due to their well-developed hind legs. They can jump over obstacles that are many or even tens of times their size on land. However, most of the current jumping mechan...
Most pediatric exoskeletons for cerebral palsy (CP) focus on lower-limb assistance and neglect trunk control, limiting rehabilitation outcomes. This study presents a self-aligning trunk–limb exoskeleton that integrates trunk stabilization with...
Compared to the traditional non-load-bearing multi-legged robots, the heavy-duty multi-legged robots typically not only have larger body weight, larger volume, and larger load ratio but also require greater energy dissipation. Traditional path planni...
In the transition from virtual environments to real-world applications, the role of physics engines is crucial for accurately emulating and representing systems. To address the prevalent issue of inaccurate simulations, this paper introduces a novel...
To achieve high-precision trajectory tracking for multi-joint robotic manipulators in the presence of model uncertainties, external disturbances, and strong coupling effects, this paper proposes a nonsingular fast terminal sliding mode control (NFTSM...
In recent years, different groups have developed algorithms to control the stiffness of a robotic device through the electromyographic activity collected from a human operator. However, the approaches proposed so far require an initial calibration, h...
This study presents the design and implementation of a wire-driven, multi-joint robotic arm equipped with a cutting and gripping mechanism for harvesting delicate strawberries, with the goal of reducing labor and costs. The arm is mounted on a liftin...
Additive manufacturing, commonly called 3D printing, has been studied extensively because it can be used to fabricate complex structures; however, polymer-based 3D printing has limitations in terms of implementing certain functionalities, so it is li...
The development of a new generation of minimally invasive surgery is mainly reflected in robot-assisted diagnosis and treatment methods and their clinical applications. It is a clinical concern for robot-assisted surgery to use a multi-joint robotic...
Functional Electrical Stimulation (FES) can restore motor function; however, achieving precise multi-joint control remains challenging due to nonlinear muscle dynamics and fatigue. Reinforcement Learning (RL) offers a promising solution, but practica...
Snake-like robots, characterized by their high flexibility and multi-joint structure, exhibit exceptional adaptability to complex terrains such as snowfields, jungles, deserts, and underwater environments. Their ability to navigate narrow spaces and...
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