Mobile robots that can survive in unstructured wildernesses is essential in many applications such as environment detecting and security surveillance. In many of these applications, it is highly desirable that the robot can adapt robustly to both ter...
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...
With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given t...
Through the pendulum mechanism inside the spherical shell, the centroid can be varied circumferentially, enabling the spherical robot to achieve omnidirectional flexible movement. Additionally, the radial variation ability of the centroid enables sph...
Spherical robots have fully wrapped shells, which enables them to walk well on complex terrains, such as swamps, grasslands and deserts. At present, path planning algorithms for spherical robots mainly focus on finding the shortest path between the i...
The rapid development of wearable technologies is increasing research interest in on-body robotics, where relocatable robots can serve as haptic interfaces, support healthcare measurements, or assist with daily activities. However, on-body mobile rob...
Complex and unknown terrains in deep space exploration present great challenges to existing exploration robots. In this paper, a multi-mode motion spherical robot with flexible motion and strong environmental adaptability is presented. The spherical...
A self-calibration method utilizing spherical constraints is proposed for calibration of robot end-effectors. The method establishes a mathematical model to account for both the geometric errors of the robot and the deformation errors of the end-effe...
Wrist movements play a crucial role in upper-limb motor tasks. As prosthetic and robotic hand technologies have evolved, increasing attention has been focused on replicating the anatomy and functionality of the wrist. Closely imitating the biomechani...
To provide the necessary theoretical models of sphere–soil interaction for the structural design, motion control, and simulation of spherical robots, this paper derives analytical expressions for traction force and driving torque when spherical...
This article presents the development of a model of a spherical robot that rolls to move and has a single point of support with the surface. The model was developed in the CoppeliaSim simulator, which is a versatile tool for implementing this kind of...
As deep space exploration tasks become increasingly complex, the mobility and adaptability of traditional wheeled or tracked probe robots with high functional density are constrained in harsh, dangerous, or unknown environments. A practical solution...
We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III) featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism...
Vision-based mobile robot navigation is a vibrant area of research with numerous algorithms having been developed, the vast majority of which either belong to the scene-oriented simultaneous localization and mapping (SLAM) or fall into the category o...
This paper considers a novel propulsion system for the third-generation Spherical Underwater Robot (SURIII), the improved propulsion system is designed and analyzed to verify its increased stability compared to the second-generation Spherical Underwa...
Studying the interactions between biological organisms and their environment provides engineers with valuable insights for developing complex mechanical systems and fostering the creation of novel technological innovations. In this study, we introduc...
This study introduces an amphibious spherical robot equipped with a dual-propulsion system (ASR-DPS) and investigates its water-surface motion characteristics. Due to its distinctive spherical geometry, the robot exhibits markedly different hydrodyna...
This research introduces the first design concept for a ducted coaxial-rotor amphibious spherical robot (BYQ-A1), utilizing the principle of variable mass control. It investigates whether the BYQ-A1’s variable-mass slider has a certain regulari...
Thrusters are the bottom actuators of the amphibious spherical robot, and play an important role in the motion control of these robots. To realize accurate motion control, a thrust model for a new water-jet thruster based on hydrodynamic analyses is...
A dynamic path-planning algorithm based on a general constrained optimization problem (GCOP) model and a sequential quadratic programming (SQP) method with sensor input is proposed in this paper. In an unknown underwater space, the turtle-inspired am...
In the navigation of underwater robots, large ocean current disturbance often causes significant tracking errors. To better resist ocean current disturbance, the hydrodynamic characteristics of the spherical underwater robot are studied, and a model...
In this paper, a double closed-loop backstepping controller is designed for 3D trajectory tracking of a turtle-inspired amphibious spherical robot suffering from problems that include model uncertainties, environmental disturbances, and unmeasured ve...
In order to realize the intervention operation in the unstructured and ample environments such as stomach and colon, a dual-spin spherical capsule robot (DSCR) driven by pure magnetic torque generated by the universal rotating magnetic field (URMF) i...
The review discusses the possibilities of different driving mechanisms and sensors of spherical robots, and a special kind of mobile robots is introduced and discussed. The sensors discussed can expand robots’ sensing capabilities which are typ...
Spherical robotics is an emerging research field due to a ball’s characteristic to be holonomic, have a sealed internal environment, and rebound from collisions easily. As the research moves forward, individual groups have begun to develop unique met...
Due to their efficient locomotion and natural tolerance to hazardous environments, spherical robots have wide applications in security surveillance, exploration of unknown territory and emergency response. Numerous studies have been conducted on the...
Due to the characteristics of good concealment ability and strong mobility, multiple, small spherical underwater robot formations play an important role in near coast defense missions, such as cruising, reconnaissance, surveillance, and sensitive tar...
The spread of cobotsin common industrial practice has led constructors to prefer the development of collaborative features that are necessary to prevent injuries to operators over the realization of simple kinematic structures for which the joints-to...
Amphibious Spherical Robots (ASRs) use an electric field to communicate and collaborate effectively in a turbid water of confined spaces where other mode communication modalities failed. This paper proposes an embedded architecture formation strategy...
Due to the excellent concealment and high mobility, multiple small spherical underwater robots are essential for near coast defending missions. The formation of multiple small spherical underwater robots is particularly effective for tasks such as pa...
This study considers the control of spherical robot linear motion under input saturation. A fractional sliding mode controller that combines fractional order calculus and the hierarchical sliding mode control method is proposed for the spherical robo...
This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis. It starts from the virtual model of the existing version of the ASPIRE robot, which is analysed kinematicall...
To improve the autonomy of the biomimetic sphere robot (BSR), an underwater trajectory tracking problem was studied. Considering the thrusters saturation of the BSR, an improved model predictive control (MPC) algorithm that features processing multip...
In single incision laparoscopic surgery (SILS), because the laparoscope and other surgical instruments share the same incision, the interferences between them constrain the dexterity of surgical instruments and affect the field of views of the laparo...
Spherical parallel robots (SPR) are widely used in industries and robotic rehabilitation. Designing such systems for better balance properties is still a challenge. This paper presents a work to minimize the shaking moment for a fully force-balanced...
22 March 2021
The paper presents the design optimization of the ASPIRE spherical parallel robot for shoulder rehabilitation following clinical evaluation and clinicians’ feedback. After the development of the robotic structure and the implementation of the control...
Hand dysfunction is a common symptom in stroke patients. This paper presents a robotic device which assists the rehabilitation process in order to reduce the need of physical therapy, i.e., a 3UPS/S parallel robotic device is employed for repetitive...
This study introduces the integrated T-spherical fuzzy Einstein interaction aggregator group decision-making approach, a novel framework designed to enhance multi-criteria decision-making (MCDM). Implementing the case study of concrete 3D printing te...
Although non-invasive brain stimulation techniques do not involve surgical procedures, the challenge remains in correctly locating the stimulator from outside the head. There is a limit to which one can manually and precisely position and orient the...
Underwater target acquisition and identification performed by manipulators having broad application prospects and value in the field of marine development. Conventional manipulators are too heavy to be used for small target objects and unsuitable for...
In this study, a novel design for a compact, lightweight, agile, omnidirectional three-legged robot involving legs with four degrees of freedom, utilizing an spherical parallel mechanism with an additional non-redundant central support joint for the...
In the field of agricultural robotics, robotic grippers play an indispensable role, directly influencing the rate of fruit damage and handling efficiency. Currently, traditional agricultural robotic grippers face challenges such as high damage rates...
The spherical shape is an interesting approach to develop exploration robots, or rovers, thanks to its capability of ensuring omnidirectional motion and of being basically unsensitive to possible rollovers. This works intends to propose a novel detai...
This article provides a detailed comparative analysis of five orientational, two degrees of freedom (DOF) mechanisms whose envisioned application is the wrist of the iCub humanoid robot. Firstly, the current iCub mk.2 wrist implementation is presente...
The ocean is a significant strategic resource, and the insufficient development and use of the ocean, as well as the increase in attention to the ocean, have led to the development of underwater robot technology. The need for in-depth marine explorat...
Precise and programmable magnetic field control is essential for the reliable actuation of magnetic miniature robots in biomedical applications. However, the workspace of existing systems often relies on empirical designs and lacks a clear framework...
A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requir...
This manuscript presents an efficient algorithm for solving the inverse kinematics problem of a 6R robot manipulator to be deployed on embedded control hardware. The proposed method utilizes the geometric relationship between the end-effector and the...
In this work, we present the design, implementation, and testing of an attitude control system based on State Feedback Linearization (FL) of a prototype spherical underwater vehicle. The vehicle is characterized by a manifold design thruster configur...
The emergence of Industry 5.0 brings a paradigm shift towards collaborative environments where humans and intelligent robots work side-by-side, enabling personalized, flexible, and resilient manufacturing. However, integrating humans and robots intro...
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