In this paper, the implementations of two reinforcement learnings namely, Q learning and deep Q network (DQN) on the Gazebo model of a self balancing robot have been discussed. The goal of the experiments is t...
Authors: MD Muhaimin Rahman, S. M. Hasanur Rashid and M. M. Hossain
In the first step, a 1-DOF power-assist robotic system (PARS) is developed for lifting lightweight objects. Dynamics for human–robot co-manipulation of objects is derived that considers human cognition (weight...
In this paper; three control approaches are utilized in order to control the stability of a novel five-degrees-of-freedom two-wheeled robotic machine designed for industrial applications that demand a limited-...
Soft robotics is an emerging field in the robotics community which deals with completely new types of robots. However, often new soft robotic designs depend on the ingenuity of the engineer rather being system...
In this research, the combination of fuzzy/PD and EMG signals, as direct command control, is proposed. Although fuzzy/PD strategy was used to control force position of the artificial hand, the combination of t...
Authors: Saeed Bahrami Moqadam, Seyed Mohammad Elahi, An Mo and WenZeng Zhang
By using quintic polynomial function to interpolate several given points of each joint of the robot, the mathematical expressions of each joint variable of the robot with time are established. In addition, to ...
Authors: Jiayan Zhang, Qingxi Meng, Xugang Feng and Hao Shen
Inspired from flexible bending of octopus’ tentacles and outside-driving kind of traditional exoskeletons, this paper proposed a novel self-adaptive underactuated finger mechanism, called OS finger. OS finger ...
Efforts in the research of tensegrity structures applied to mobile robots have recently been focused on a purely tensegrity solution to all design requirements. Locomotion systems based on tensegrity structure...
This paper proposes a novel cluster-tube self-adaptive robot hand (CTSA Hand). The CTSA Hand consists of a base, a motor, a transmission mechanism, multiple elastic tendons, and a group of sliding-tube assembl...
Authors: Hong Fu, Haokun Yang, Weishu Song and Wenzeng Zhang
Nuclear energy is one of the most important clean energy on earth presently. The steam generator secondary side is the key device of nuclear power station. As an important branch of special robot, nuclear robo...
Authors: Jinke Li, Xinyu Wu, Tiantian Xu, Huiwen Guo, Jianquan Sun and Qingshi Gao
A novel actuating material, which is lightweight, soft, and capable of generating large flapping motion under electrical stimuli, is highly desirable to build energy-efficient and maneuverable bio-inspired und...
The vibration of robot joint reducer is the main factor that causes vibration or motion error of robot system. To improve the dynamic precision of robot system, the cycloid ball transmission used in robot join...
Route bundling implies compounding multiple routes in a way that anchoring points at intermediate locations minimize a global distance metric to obtain a tree-like structure where the roots of the tree (anchor...
Authors: Victor Parque, Satoshi Miura and Tomoyuki Miyashita
Shadow and background are two common factors in digital fringe projection, which lead to ambiguity in three-dimensional measurement and thereby need to be seriously considered. Preprocessing is often needed to...
Particle-based magnetically actuated microswimmers have the potential to act as microrobotic tools for biomedical applications. In this paper, we report the dynamic behaviors of a three-particle paramagnetic m...
Authors: Qianqian Wang, Lidong Yang, Jiangfan Yu and Li Zhang
The population of ageing is growing significantly over the world, and there is an emerging demand for better healthcare services and more care centres. Innovations of Information and Communication Technology h...
Authors: Nazanin Mansouri, Khaled Goher and Seyed Ebrahim Hosseini
For track-based robots, an important aspect is the suppression design, which determines the trafficability and comfort of the whole system. The trafficability limits the robot’s working capability, and the rid...
The rapid development of robotics offers new opportunities for the traditional biofabrication in higher accuracy and controllability, which provides great potentials for the intelligent biomedical engineering....
This paper explores the dynamics of separable coupled rigid body systems, a special class of constrained rigid body systems. These are defined as two systems that interact with each other by forces of contact,...
Authors: Kinda Khalaf, Dongming Gan and Hooshang Hemami
This paper develops and experimentally validates a 3D-printed snake robot prototype. Its structure is designed to allocate limited room for each functional module (including an external power module, battery p...
Authors: Weixin Yang, Alexandr Bajenov and Yantao Shen
In this research, a pruning mechanism for aerial pruning tasks is tested in a real environment. Since the final goal of the aerial pruning robot will be to prune tree branches close to power lines, some experi...
Automatic handling of many types of food materials are required to realize the automation of production of commercially prepared box lunches. A printable soft gripper was developed for food handling which is ...
Authors: Takahiro Matsuno, Zhongkui Wang and Shinichi Hirai
This paper presents a feasibility study of a brain–machine interface system to assist repetitive facilitation exercise. Repetitive facilitation exercise is an effective rehabilitation method for patients with ...
Authors: Satoshi Miura, Junichi Takazawa, Yo Kobayashi and Masakatsu G. Fujie
In this paper, a framework for analyzing the motion resulting from the interaction between a snake robot and an object is shown. Metrics are derived to study the motion of the object and robot, showing that th...
Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic ...
Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials...
Authors: Zhongkui Wang, Mingzhu Zhu, Sadao Kawamura and Shinichi Hirai
Recently, discriminative correlation filter-based method becomes one of the popular directions in the field of visual tracking because of its computational efficiency and excellent performance, which make it e...
Accurate control and precise positioning of opto-thermocapillary flow-addressed bubble microrobots are necessary for micromanipulation. In addition, micromanipulation using the simultaneous actuation of multip...
Authors: M. Arifur Rahman, Noboru Takahashi, Kawai F. Siliga, Nigel K. Ng, Zhidong Wang and Aaron T. Ohta
A position-sensitive detector/device (PSD) is a sensor that is capable of tracking the location of a laser beam on its surface. PSDs are used in many scientific instruments and technical applications including...
Demographic reports indicate that population of older adults is growing significantly over the world and in particular in developed nations. Consequently, there are a noticeable number of demands for certain ...
Authors: K. M. Goher, N. Mansouri and S. O. Fadlallah
The development of a robotic-driven maintenance solution capable of automatically maintaining reconfigurable vibrating screen (RVS) machine when utilized in dangerous and hazardous underground mining environme...
Authors: O. A. Makinde, K. Mpofu, R. Vrabic and B. I. Ramatsetse
This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacteri...
Authors: K. M. Goher, A. M. Almeshal, S. A. Agouri, A. N. K. Nasir, M. O. Tokhi, M. R. Alenezi, T. Al Zanki and S. O. Fadlallah
This paper explores ways of combining vision and touch for the purpose of object recognition. In particular, it focuses on scenarios when there are few tactile training samples (as these are usually costly to ...
Authors: Tadeo Corradi, Peter Hall and Pejman Iravani
This paper presents the performance of utilizing a bacterial foraging optimization algorithm on a PID control scheme for controlling a five DOF two-wheeled robotic machine with two-directional handling mechan...
Exploration in an unknown environment is an elemental application for mobile robots. In this paper, we outlined a reinforcement learning method aiming for solving the exploration problem in a corridor environ...
To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach...
Soft sensors are required to accommodate the flexible and deformable natures of the human body in wearable device applications. They are also suitable for integration with soft robotic devices to monitor the p...
Authors: Zhong Shen, Juan Yi, Xiaodong Li, Mark Hin Pei Lo, Michael Z. Q. Chen, Yong Hu and Zheng Wang
Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We prese...
Authors: Xuejun Yang, Huadong Dai, Xiaodong Yi, Yanzhen Wang, Shaowu Yang, Bo Zhang, Zhiyuan Wang, Yun Zhou and Xuefeng Peng
For determining whether kidnapping has happened and which type of kidnapping it is while a robot performs autonomous tasks in an unknown environment, a double guarantee kidnapping detection (DGKD) method has b...
Robots play more important roles in daily life and bring us a lot of convenience. But when people work with robots, there remain some significant differences in human–human interactions and human–robot interac...
Authors: Zhongliang Jiang, Yu Sun, Peng Gao, Ying Hu and Jianwei Zhang
This paper presents an integrated assembly and motion planning system to recursively find the assembly sequence and motions to assemble two objects with the help of a horizontal surface as the supporting fixtu...
Despite the fact that there are various configurations of
self-balanced two-wheeled machines (TWMs), the workspace of such systems is restricted by their current configurations and designs. In this work, the ...
A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator...
Authors: Zonggao Mu, Liang Han, Wenfu Xu, Bing Li and Bin Liang
The loop closure detection (LCD) is an essential part of visual simultaneous localization and mapping systems (SLAM). LCD is capable of identifying and compensating the accumulation drift of localization algor...
Authors: Dongdong Bai, Chaoqun Wang, Bo Zhang, Xiaodong Yi and Yuhua Tang
This article concentrates on open-source implementation on flying object detection in cluttered scenes. It is of significance for ground stereo-aided autonomous landing of unmanned aerial vehicles. The ground ...
Authors: Tianjiang Hu, Boxin Zhao, Dengqing Tang, Daibing Zhang, Weiwei Kong and Lincheng Shen
This paper presents a new algorithm for extrinsically calibrating a multi-sensor system including multiple cameras and a 2D laser scanner. On the basis of the camera pose estimation using AprilTag, we design ...
Authors: Dengqing Tang, Tianjiang Hu, Lincheng Shen, Zhaowei Ma and Congyu Pan
This paper aims to develop a local path planning algorithm for a bio-inspired, reconfigurable crawling robot. A detailed description of the robotic platform is first provided, and the suitability for deploymen...
Authors: Akshay Rao, Mohan Rajesh Elara and Karthikeyan Elangovan
Pipe robots can perform inspection tasks to alleviate the damage caused by the pipe problems. Usually, the pipe robots carry batteries or use a power cable draining power from a vehicle that has many equipment...
Authors: Peng Li, Shugen Ma, Congyi Lyu, Xin Jiang and Yunhui Liu
This paper studies passivity-based trajectory tracking control of an omnidirectional mobile robot. The proposed control design is simple to be implemented in practice, because of an effective exploitation of ...
A novel eccentric paddle mechanism based on the epicyclic gear mechanism (ePaddle-EGM) has been proposed to enhance the mobility of amphibious robot for multi-terrain tasks with diverse locomotion gaits. This...
Authors: Jinglei Zhao, Huayan Pu, Jun Zou, Yi Sun and Shugen Ma
