Robot-assisted rehabilitation has demonstrated significant efficacy in improving motor function among patients with physical and neurological impairments. The development of effective rehabilitation robots requires careful integration of mechanical d...
Bionic underwater robots have many advantages such as high mobility, high efficiency, high affinity, etc. They are especially suitable for tasks such as collecting hydrographic information and for detailed surveys of the marine environment. These tas...
Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot base...
The research of quadruped robots is fundamentally motivated by their excellent performance in complex terrain. Maintaining the trunk moving smoothly is the basis of assuring the stable locomotion of the robot. In this paper we propose a planning and...
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...
(1) Background: Human detection and tracking are critical tasks for assistive autonomous robots, particularly in ensuring safe and efficient human–robot interaction in indoor environments. The increasing need for personal assistance among the e...
The paper aims to solve problems of the mathematical modeling and realization of a cube robot capable of self-bouncing and self-balancing. First, the dynamic model of the cube robot is derived by using the conservation of the angular momentum and the...
Collaborative robots (cobots) play a crucial role in modern industry by ensuring safe and efficient human–robot interaction. However, traditional control methods struggle with uncertainty handling and adaptability to dynamic environments. This...
This paper proposes a design methodology for a six-wheeled rover that adapt to different stairs and maintain its stability based on the robot’s parameters, the kinematics constraints, the maximum height, and the minimum length of the step requi...
This article presents a generalizable, low computational cost, simple, and fast gravity compensation method for legged robots with a variable number of legs. It is based on the static problem, which is a reduction in the dynamic model of the robot th...
This paper presents the design and implementation of a spherical robot with an internal mechanism based on a pendulum. The design is based on significant improvements made, including an electronics upgrade, to a previous robot prototype developed in...
The motion-planning problem is well known in robotics; it aims to find a free-obstacle path from a starting point to a destination. To make use of actuation generosity and the fuzzy fast response behavior compared to other non-linear controllers, a f...
One of the challenging aspects of robotics research is to successfully establish a human-like behavioural control strategy for human–robot handover, since a robotic controller is further complicated by the dynamic nature of the human response. This p...
Cable robots are a type of parallel robot in which cables have replaced the usual rigid arms. In cable robots, due to the tensile strength of the cable, the workspace analysis is much more complex than in conventional robots. In this paper, we design...
Gaze tracking is gaining relevance in collaborative robotics as a means to enhance human–machine interaction by enabling intuitive and non-verbal communication. This study explores the integration of human gaze into collaborative robotics by de...
Omnidirectional mobile wall-climbing robots have better motion performance than traditional wall-climbing robots. However, there are still challenges in designing and controlling omnidirectional mobile wall-climbing robots, which can attach to non-fe...
Robotic-assisted rehabilitation has become an essential field in supporting the functional recovery of patients with neurological, musculoskeletal or post-traumatic conditions. This paper provides a systematic and applicative analysis of the control...
In robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster environments has already been demonstrated. To ensure the safe execution of tasks by the robot, meticulous planning of its foot placements and precise l...
This study presents a novel method for controlling the position and orientation of the bioinspired I-SUPPORT soft robot, which represents a relevant advancement in the field of soft robotics. The approach is based on module actuation decoupling and f...
We focus on dual-user operation, where two users control a single remote robot equipped with a force sensor using haptic interface devices. We employ a cooperative work in which the two users control the remote robot to collaborate with remote robot...
Bioinspired walking hexapod robots are a relatively young branch of robotics. Despite the high degree of flexibility and adaptability derived from their redundant design, open-source implementations do not fully utilize this potential. This paper pro...
Impedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force is regarded as a linear viscoelastic model, which limits the description of the dynamic model of the impedance system...
This paper presents an application of optical word recognition and fuzzy control to a smartphone automatic test system. The system consists of a robot arm and two webcams. After the words from the control panel that represent commands are recognized...
Surface electromyography (sEMG) is a promising technology that can capture muscle activation signals to control robots through novel human–machine interfaces (HMIs). This technology has already been applied in scenarios such as prosthetic desig...
Multimodal motion capability is an emerging topic in the robotics field, and this paper presents a hybrid robot system maneuvering in both terrestrial and aerial environments. Firstly, a micro quadruped–quadrotor robot with onboard sensing and...
In recent years, force control has become more important due to the physical interaction of robots with humans and applications of robots to complex environments. Impedance control is widely used in force control; however, it cannot reproduce the beh...
Machine learning (ML) is a branch of artificial intelligence that has been developing at a dynamic pace in recent years. ML is also linked with Big Data, which are huge datasets that need special tools and approaches to process them. ML algorithms ma...
To overcome the difficulty in tracking the trajectory of an inspection robot inside a transformer, this paper proposes a distributed model predictive control method. First, the kinematics and dynamics models of a robot in transformer oil are establis...
With the feet of a biped robot attached insecurely to a terrain, its stability is strongly affected by the characteristics of the terrain on which it runs. Therefore, for stable bipedal running, online motion control based on the states of the robot...
It is difficult to realize the stable control of a wheeled biped robot (WBR), as it is an underactuated nonlinear system. To improve the balance and dynamic locomotion capabilities of a WBR, a decoupled control framework is proposed. First, the WBR i...
In endoscopic sinus surgery, the robot assists the surgeon in holding the endoscope and acts as the surgeon’s third hand, which helps to reduce the surgeon’s operating burden and improve the quality of the operation. This paper proposes a...
In this work the control of a spatial robot by sliding mode control is studied. The robot model has three degrees of freedom. These robots are usually used in material handling in remote dangerous environments and production line. First, the mathemat...
A wheeled–legged robot has the advantage of stable and agile movement on flat ground and an excellent ability to overcome obstacles. However, when faced with a narrow footprint, there is a limit to its ability to move. We developed the control...
In this paper, a rehabilitation robot driven by multifilament muscles is designed based on the rehabilitation robot motion model and a system elbow joint model. The passive training mode of rehabilitation robots were researched, and active disturbanc...
This work deals with the control of flexible structures as underactuated systems. The invariant control method performs the control of a flexible robot as a representative of an underactuated system with zero dynamics. The control input is separated...
In order to effectively plan the robot gaits and foot workspace trajectory (WT) synchronously, a novel biologically inspired control strategy for the locomotion of a quadruped robot based on central pattern generator—neural network—workspace trajecto...
The rise of collaborative robots urges the consideration of them for different industrial tasks such as sanding. In this context, the purpose of this article is to demonstrate the feasibility of using collaborative robots in processing operations, su...
In this paper we present two different, software and reconfigurable hardware, open architecture approaches to the PUMA 560 robot controller implementation, fully document them and provide the full design specification, software code and hardware desc...
This paper presents a doublegyroscope unicycle robot, which is dynamically balanced by sliding mode controller and PD controller based on its dynamics. This double−gyroscope robot uses the precession effect of the double gyro system to achieve...
An incision point acts as the pivot point when a minimally invasive surgery procedure is applied. The assistive robot arms employed for such operation must have the capability to perform a remote center of motion (RCM) at this pivot point. Other than...
Fast and precise robot motion is needed in many industrial applications. Most industrial robot motion controllers allow externally commanded motion profiles, but the trajectory tracking performance is affected by the robot dynamics and joint servo co...
This study examined the control of a planar two-link robot arm. The control approach design was based on the dynamic model of the robot. The mathematical model of the system was nonlinear, and thus a feedback linearization control was first proposed...
This study designed an algorithm for the intelligent control of the motion of a mobile robot with mecanum wheels. After reviewing the model kinematics and dynamics of the robot, we conducted a synthesis of the neural control algorithm to determine ne...
Human–robot interaction (HRI) is a broad research topic, which is defined as understanding, designing, developing, and evaluating the robotic system to be used with or by humans. This paper presents a survey on the control, safety, and perspect...
The motion process of legged robots contains not only rigid-body motion but also flexible motion with elastic deformation of the legs, especially for heavy loads. Hence, the characteristics of the flexible components and their interactions with the r...
Area coverage is a crucial factor for a robot intended for applications such as floor cleaning, disinfection, and inspection. Robots with fixed shapes could not realize an adequate level of area coverage performance. Reconfigurable robots have been i...
Within this work we present AMiCUS, a Human-Robot Interface that enables tetraplegics to control a multi-degree of freedom robot arm in real-time using solely head motion, empowering them to perform simple manipulation tasks independently. The articl...
This paper addresses the modeling and the control of an autonomous bicycle robot where the reference point is the center of gravity. The controls are based on the wheel heading’s angular velocity and the steering’s angular velocity. They...
Research on extreme environmental exploration using unmanned robots has recently attracted significant attention. In particular, unmanned robot exploration in vast areas such as Antarctica requires a system capable of remotely monitoring and controll...
In this paper, a novel constraint-following control for uncertain robot manipulators that is inspired by analytical dynamics is developed. The motion can be regarded as external constraints of the system. However, it is not easy to obtain explicit eq...
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