Article
Automation & Control Systems
Saeed Baghaee Ivriq, Kjeld Laursen, Aske Moller Jorgensen, Tanmay Mondal, Milad Zamani, Yasser Rezaeiyan, Brian Corbett, Bo Brummerstedt Iversen, Farshad Moradi
Summary: This article introduces a new light-delivery implant that is wirelessly powered by ultrasonics. The device shows feasibility for optical neuro-modulation in the treatment of diseases such as Parkinson's disease.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Engineering, Industrial
Zhirui Zhao, Lina Hao, Guanghong Tao, Hongjun Liu, Lihua Shen
Summary: This study proposes a useful control method to solve the tracking trajectory issue of an exoskeleton under bounded disturbance. The method successfully reduces tracking error and improves the tracking performance of the pneumatic artificial muscles (PAMs) elbow exoskeleton.
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
(2023)
Article
Robotics
Yuya Onishi, Hidenobu Sumioka, Masahiro Shiomi
Summary: Human-robot touch interaction is a potential solution to compensate for the lack of physical interactions due to separations. This study developed a robot named Moffuly-II that hugs people and rubs their heads. Experimental results showed the advantages of rubbing gestures over squeezing gestures, and also the advantages of head-touching behaviors over back-touching behaviors.
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
(2023)
Article
Engineering, Multidisciplinary
Gang Hu, Jiao Wang, Xiaoni Zhu, Muhammad Abbas
Summary: This paper studies the shape optimization problem of developable surface interpolated on the curvature line, and improves the reptile search algorithm by introducing feedback mechanism and other elements to enhance the solution performance. Experimental results demonstrate the superiority of the proposed algorithm.
JOURNAL OF BIONIC ENGINEERING
(2023)
Article
Robotics
Liang Zhang, Xiuyu He, Wei He, Sujie Zhang, Min Zhao, Hongxue Zhao
Summary: This paper presents the design and performance of a highly maneuverable flapping-wing flying robot (FWFR), which is capable of achieving high speeds and large roll angles. The FWFR demonstrates outstanding maneuverability through rapid roll, descent, and maximum speed.
JOURNAL OF FIELD ROBOTICS
(2023)
Article
Engineering, Industrial
Feifei Zhong, Guoping Liu, Zhenyu Lu, Lingyan Hu, Yangyang Han, Yusong Xiao, Xinrui Zhang
Summary: This study aims to enhance the control precision of robotic arms by establishing a dynamic model and identifying the dynamic parameters. An improved particle swarm optimization method is proposed for parameter identification, along with a step-by-step dynamic parameter identification method. Additionally, a combination of high-order differentiable natural exponential functions and traditional Fourier series is used to develop an excitation trajectory. Experimental results demonstrate the superiority of the IPSO algorithm in parameter identification.
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
(2023)
Article
Robotics
Pau Vial, Narcis Palomeras, Joan Sola, Marc Carreras
Summary: This paper presents a two-dimensional SLAM system for an Autonomous Underwater Vehicle, using inertial sensors and a mechanical profiling sonar. The system utilizes Lie Theory and a specialized scan matching technique for acoustic data, allowing for the tracking of pose uncertainty and estimation of matching result uncertainty. Real data testing confirms the feasibility of the system.
JOURNAL OF FIELD ROBOTICS
(2023)
Article
Robotics
Robert Sparrow, Eliana Horn, Friederike Eyssel
Summary: This paper outlines a research program on the gendering of robots and the ethical issues it raises. It identifies design features that may influence gender attribution and highlights the importance of considering various factors such as age, class, sex, ethnicity, and sexuality in understanding how robots are gendered. The paper also calls for progress in robot media ethics and emphasizes the responsibilities of designers and users in addressing the ethical implications of gendering robots.
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
(2023)
Review
Robotics
Hendri Maja Saputra, Nur Safwati Mohd Nor, Estiko Rijanto, Mohd Zarhamdy Md Zain, Intan Zaurah Mat Darus, Edwar Yazid
Summary: This paper reviews the technical aspects of robotic charging for Electric Vehicles (EVs), aiming to identify research trends, methods, and challenges. The study found an exponential increase in publications from 2012 to 2022, with keywords such as electric vehicle, robotic, automatic charging, pose estimation, and computer vision being the most prominent. The paper highlights the challenges of using computer vision for socket pose estimation and plug insertion, as well as the need to improve the success rate and shorten the time of plug insertion. The study also discusses the use of different types of robot manipulators and the development of a compliant 4-DOF manipulator for 100% success rate.
INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS
(2023)
Article
Robotics
Shaoshao Wang, Aihua Zhang, Zhiqiang Zhang, Xudong Zhao
Summary: In this paper, a new visual SLAM method based on point-line fusion of line structure constraint is proposed to solve the problem of poor performance of traditional point feature algorithm under low texture and poor illumination. By improving the point feature processing and line extraction methods, as well as introducing parallelism constraint and optimizing the error function, the accuracy and completeness of map construction are significantly improved.
INTELLIGENT SERVICE ROBOTICS
(2023)
Article
Robotics
Keisuke Osawa, D. S. V. Bandara, Ryu Nakadate, Eiichiro Tanaka, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata
Summary: For narrow intraluminal procedures, a highly accurate model using a pseudo-rigid-body model is proposed to design multi-DOF compliant endoluminal devices. The model considers individual differences in material properties and surface roughness, and achieves a high accuracy at a lower calculation cost. Experimental results confirm the feasibility of the proposed method for developing dexterous endoluminal devices that reduce operation errors and approach lesions.
Article
Robotics
Rogerio S. Goncalves, Talles M. de Carvalho, Pablo B. dos Santos, Frederico C. Souza, Carlos Alberto Gallo, Daniel E. T. Sudbrack, Paulo Victor Trautmann, Bruno C. Clasen, Rafael Z. Homma
Summary: To enhance airspace safety, the installation of devices along power lines to reduce collisions involving aircraft and other objects is crucial. This paper presents a novel approach using a drone-attached robotic module for semi-automated installation of aerial marker balls. Testing in a simulated environment proves its cost-effectiveness and improved safety.
INTELLIGENT SERVICE ROBOTICS
(2023)
Article
Robotics
Jiaji Li, Chenhao Liu, Ken Nguyen, J. Michael Mccarthy
Summary: This article describes a robot walker that utilizes a new single degree-of-freedom six-bar leg mechanism to provide rectilinear movement of the foot without rotating. The walker is statically stable and only requires two actuators for effective walking on a flat surface. Using Curvature Theory, a four-bar linkage with a flat-sided coupler curve is designed, along with a translating link to enable the walker foot to follow the coupler curve in rectilinear movement. A prototype of this innovative legged robot has been constructed, with a weight of 1.6 kg, height of 180 mm, and a travel speed of 162 mm/s.
Review
Automation & Control Systems
Luca Crosato, Kai Tian, Hubert P. H. Shum, Edmond S. L. Ho, Yafei Wang, Chongfeng Wei
Summary: Interaction-aware autonomous driving (IAAD) is an emerging research field that focuses on enabling autonomous vehicles (AVs) to interact safely with human road users. Understanding and predicting human behavior is crucial. This review examines current IAAD research, including terminology, challenges, and existing models for human road user interaction. Discussion is also given on interaction modeling techniques, such as cognitive, machine learning, and game theory methods, as well as potential advantages.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Engineering, Mechanical
Ruzhen Pei, Xibin Cao, Cheng Wei
Summary: With the increase in complexity of human-robot interaction scenarios, there is a growing demand for robot joint compliance. This paper proposes a more accurate stiffness model for designing elastic elements by analyzing the geometric parameters of a typical elastic element.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
Article
Engineering, Mechanical
Chenkun Qi, Huayang Li, Feng Gao, Xianbao Chen, Yue Zhao, Zhijun Chen
Summary: This study models the body movement of a legged robot as a six-bar mechanism and uses the reachable workspace to constrain the spatial movement of the foot tip and the robot body. Unlike previous work, this study further investigates the method of calculating the reachable workspace for target points outside the moving platform, and considers the influence of supporting footholds and shank-ground interference on the reachable body workspace.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
Article
Engineering, Mechanical
Mingxiang Ling, Hao Zhou, Liguo Chen
Summary: The kinetostatic and dynamic formulation of planar-compliant mechanisms is investigated using the dynamic stiffness method based on Timoshenko beam theory. The research demonstrates the effectiveness of considering shear deformation and rotary inertia in the dynamic stiffness matrix for modeling and computation.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
Article
Engineering, Mechanical
Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai
Summary: This article presents the design and development of a novel flexible robotic laparoscope (FRL) equipped with a two degrees-of-freedom continuum mechanism, cable-pulley-driven systems, and miniature linear actuators. The FRL utilizes a constant-curvature model for kinematics modeling, and a bending control strategy along with feedforward compensation to improve its motion performance. Experimental results demonstrate that the FRL achieves high positioning accuracy and has potential applications in robot-assisted laparoscopic surgery.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
Article
Engineering, Mechanical
Abdur Rosyid, Cesare Stefanini, Bashar El-Khasawneh
Summary: This paper presents a novel walking hybrid-kinematics robot with three degrees-of-freedom for on-structure machining of large structures. The robot uses a symmetric 3PRRR parallel mechanism to provide three-dimensional translational manipulation and has rotational and translational walking patterns. The kinematics and dynamics of the robot are derived, simulated, and experimentally verified. The implementation of the robot for on-structure machining tasks is also discussed.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
Article
Engineering, Mechanical
Fanyi Guo, Zhili Sun, Shengnan Zhang, Runan Cao, Haiyang Li
Summary: In this study, an analytical model based on the dynamic stiffness matrix is proposed to rapidly analyze the dynamic characteristics of a compliant stroke amplification mechanism (CSAM) with completely distributed compliance. The natural frequency of the CSAM is optimized without attenuation of the amplification ratio based on this model. The optimized CSAM exhibits a significantly higher natural frequency than the original mechanism along the main motion direction. Finite element simulation verifies the optimization result, showing a small difference. The effects of frequency on the amplification ratio and input stiffness of the optimized CSAM are also discussed. Furthermore, the sensitivity of failure probability to manufacturing errors at different positions is analyzed, with the failure criterion defined as structural resonance.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
