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Article
Robotics
Stefan Escaida Navarro et al.
Summary: Proximity perception technology has the potential to be a crucial component in the future of robotics, particularly in human-centered robotics and remote environments like space and underwater. In human-centered robotics, proximity sensors are used for safety interactions and grasping and exploration functions.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Automation & Control Systems
Enrico Franco et al.
Summary: Soft continuum manipulators with low stiffness for safe operation in unstructured environments may face underactuation. This article investigates model-based adaptive control for these manipulators, estimating disturbances and model uncertainties to construct a nonlinear controller that compensates for disturbances and model uncertainties while regulating tip orientation. Stability conditions and the beneficial role of nonlinear damping are highlighted, with the effectiveness of the controller assessed through simulations and experiments.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Engineering, Mechanical
Saeed Zaare et al.
Summary: This paper presents a high-speed and low power consumption adaptive fuzzy global coupled nonsingular fast terminal sliding mode control method for position tracking control of robot manipulators in the presence of uncertainties. By dividing the dynamic equations into two subsystems and using a fuzzy approximator, this method can increase tracking speed, reduce chattering phenomenon, and ensure global finite-time asymptotic stability.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2022)
Article
Engineering, Mechanical
Wenfu Xu et al.
Summary: This paper proposed a vision-based method for cable-driven robots to simultaneously measure the manipulator configuration and the target pose, which shows significant improvement in motion accuracy and working ability of the robot.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2022)
Article
Automation & Control Systems
Shahab Heshmati-Alamdari et al.
Summary: This article proposes a nonlinear model predictive control approach for multiple underwater vehicle manipulator systems to cooperatively transport an object while avoiding constraints and limitations. By utilizing load sharing and coupled dynamics, predictive controllers are designed for each UVMS based on specific payload capabilities. The feedback relies on onboard measurements of each UVMS without the need for online data exchange among robots, reducing communication bandwidth requirements.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2022)
Article
Automation & Control Systems
Yu Wang et al.
Summary: Robots have the potential to assist and complement humans in hostile environments. Researchers have designed a lightweight and portable underwater robot, propelled by flexible flippers instead of traditional propellers or jet-based propulsion systems. The robot features six flipper propulsors, a four-degree-of-freedom arm, and onboard sensors for environment perception. The capabilities of the robot have been validated through experiments in laboratory and real sea conditions.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Xuejian Bai et al.
Summary: Motivated by the requirement for developing a lightweight and nimble underwater vehicle-manipulator system (UVMS), this article presents a novel design of the overall framework and functional modules for a flippers-driven UVMS (F-UVMS). The study focuses on the material properties and flexible deformation to derive the dynamic model of the flexible flipper and analyze its hydrodynamic characteristics. The results show that the flexible flipper has higher propulsion efficiency compared to a rigid flipper.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Steeve Mbakop et al.
Summary: Mobile soft continuum manipulator (MSCM) is widely used in various applications of everyday life. However, its shape control in unstructured environments remains a challenge. This paper proposes a kinematic-model-based shape control method for MSCM's autonomous navigation in the presence of obstacles. The shape is modeled using a parametric spatial Pythagorean hodograph (PH) curve, and the artificial potential field algorithm is used for shape adaptation. Experimental results demonstrate the advantages of using a simplified kinematic model based on PH curve for controlling the MSCM's shape in dynamic motion.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Robotics
Zhen Zhang et al.
Summary: Soft robotic individuals possess high adaptability and low cost, and can form into a swarming system to enhance performances in practical applications. The study of a soft robotic fish swarm with global vision positioning showed the ability to quickly shift formations, mimicking natural creatures' swarming behaviors. The design principles of the soft robotic fish swarm system could guide future research on soft robots and robotic swarms for underwater applications.
Article
Robotics
Fan Xu et al.
Summary: Soft continuum robot is favored in unstructured environments for its high flexibility and safe interaction ability. Accurate shape control is essential for improving its practicality. This study proposes a vision-based shape control scheme using curvature features and an image-based visual servoing controller for soft robot manipulators.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Engineering, Mechanical
Naveen Kumar Uppalapati et al.
Summary: This paper proposes a new design architecture for Soft Continuum Arms (SCAs) using a parallel combination of pneumatic actuators to achieve spatial deformation. The design has larger workspace and higher dexterity compared to state-of-the-art single segment SCAs, validated through different tasks. This refined design is a potential building block for constructing customized SCAs.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2021)
Article
Engineering, Civil
Anil Kumar Sharma et al.
Summary: This article presents a simplified modeling of drag forces for underwater manipulators, using velocity distribution over the body's surface to determine drag. The method was found to be in good agreement with experimental results when simulating a two-link manipulator. Compared to strip theory, this approach eliminates the need for numerical integration or discretization, providing a more efficient alternative.
IEEE JOURNAL OF OCEANIC ENGINEERING
(2021)
Article
Automation & Control Systems
Paolo Di Lillo et al.
Summary: This article presents the overall control architecture of the DexROV project tested during the June 2018 experimental campaign in Marseilles, France, focusing on the motion controller's inverse kinematics algorithm and the impedance loop application for remote operation of an underwater vehicle-manipulator system.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2021)
Article
Automation & Control Systems
Ida-Louise G. Borlaug et al.
Summary: This article introduces a generalized super-twisting algorithm for trajectory tracking of an articulated intervention autonomous underwater vehicle (AIAUV). It also proposes the use of a higher-order sliding mode observer for velocity estimation and demonstrates the stability of control laws. The applicability of the proposed control methods is validated through comprehensive simulation and experimental results.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2021)
Article
Automation & Control Systems
Alexandros Nikou et al.
Summary: Significant research attention has been focused on the development and control of Autonomous Underwater Vehicles with attached robotic manipulators, also known as Underwater Vehicle Manipulator System (UVMS). The study proposes a combined abstraction and control synthesis framework to address the uncertain kinematics/dynamics of the UVMS for fulfilling desired complex tasks set in Linear Temporal Logic (LTL).
IET CONTROL THEORY AND APPLICATIONS
(2021)
Article
Automation & Control Systems
Haoyuan Gu et al.
Summary: This article introduces an improved method for active fault detection to eliminate negative influences from additional signals. By generating fault detection signals with the controller and merging them with control signals, the system stability is rigorously proven, successfully applied in detecting locked-motor faults and visual servoing tasks.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Mechanical
Furui Wang et al.
Summary: With the increasing use of subsea pipelines in the oil industry, the challenge of safe operation and maintenance of these underwater infrastructures becomes more prominent. This paper proposes the Smart Crawfish concept to address the multi-bolt looseness identification of subsea flanges, using a subsea robot equipped with gripper and PZT transducers for active sensing. The development of new entropy indexes and a stacking-based ensemble learning classifier improves the current active sensing method and demonstrates its effectiveness in a lab-level experiment.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2021)
Article
Engineering, Civil
Shahab Heshmati-Alamdari et al.
Summary: The article presents a cooperative object transportation method for multiple underwater vehicle manipulator systems, where implicit communication is achieved through physical interaction between robots. A distributed leader-follower architecture is proposed, where the leading UVMS and following UVMS use different control methods for tracking the object's trajectory, relying on force/torque measurements for feedback, reducing communication bandwidth and increasing system robustness.
IEEE JOURNAL OF OCEANIC ENGINEERING
(2021)
Article
Engineering, Mechanical
Haiyan Cheng et al.
Summary: Soft robots and bionics technology have led to the popularity of bionic soft robots like bionic stingray and bionic octopuses, incorporating soft materials for more efficient motion and behavior simulation. Research on variable stiffness fins and control methods of bionic soft robots remain hot topics in the field.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2021)
Article
Engineering, Mechanical
Dong Liang et al.
Summary: This paper focuses on the efficient dynamic modeling and control of a lightweight parallel manipulator, proposing a novel hybrid control strategy to address the dynamic characteristics of the system. Simulation experiments demonstrate the effectiveness of the proposed control strategy in trajectory tracking and vibration suppression.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2021)
Article
Engineering, Mechanical
Enrico Franco et al.
Summary: This paper investigates the control problem for soft continuum manipulators operating on a plane under unknown disturbances. A new partial-state feedback controller is designed based on the port-Hamiltonian formulation, showing effectiveness in achieving high position accuracy with measurable tip rotation. The study presents a novel approach to controlling soft continuum manipulators, demonstrating its feasibility through simulations and experiments on a prototype.
MECHANISM AND MACHINE THEORY
(2021)
Article
Robotics
Boyu Zhang et al.
Summary: The research team developed a laser endoscopic manipulator with a soft bendable tip, aiming to enhance the operability of surgeries. Experimental results show that this manipulator has extended bending capability and integrated diagnosis and therapeutic function, enabling on-site therapy.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Walid Amehri et al.
Summary: This paper addresses the end-effector workspace estimation problem for soft robots by deducing the mathematical model of soft manipulators and developing a continuation method to map their workspace boundaries. Difficulties encountered in calculating tangents at bifurcation points are studied and an efficient solution is provided. Numerical simulations are presented to emphasize the validity of the proposed methodology for planar and spatial soft manipulator configurations.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Daniel Bruder et al.
Summary: This letter presents a data-driven approach to identify soft manipulator models that enable consistent control under variable loading conditions. By incorporating loads into a linear Koopman operator model as states and estimating their values online, autonomous control of a pneumatically actuated soft continuum manipulator is achieved. Experimental results show that the controller outperforms models that do not explicitly account for loading, demonstrating the efficacy of this approach in executing real-world manipulation tasks.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Wilhelm J. Marais et al.
Summary: Kinematically redundant vehicle manipulator systems can utilize continuous configuration space to improve disturbance rejection.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Automation & Control Systems
Enrico Simetti et al.
Summary: The article discusses the main methodologies and key technologies behind the ROBUST project, funded by the European Union within the Horizon 2020 framework, which aims to develop an autonomous underwater vehicle manipulator system for deep sea mining exploration. The experimental results from sea trials in Sardinia, Italy, support the proposed methodologies.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Engineering, Mechanical
Jiahui Ye et al.
Summary: The paper discusses the challenges faced by tower cranes suspending slender payloads on construction sites, and proposes a new dynamic model and control method to address swing and twisting issues. Extensive simulations and experiments demonstrate the effectiveness of the new method in suppressing twisting.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2021)
Article
Automation & Control Systems
Enrico Franco et al.
Summary: This research investigates the position regulation in Cartesian space of a class of inextensible soft continuum manipulators with pneumatic actuation subject to model uncertainties and unknown external disturbances. Integral action and a new control law are used to address uncertain kinematics and achieve position regulation, with comparison of two adaptive laws to compensate for external disturbances. The performance of the controller is demonstrated through simulations and experiments with two different prototypes.
Article
Engineering, Mechanical
Enrico Franco et al.
Summary: This paper investigates model-based nonlinear control of soft continuum pneumatic manipulators, constructing new control laws with an energy-based approach and outlining a multi-step design procedure. The nonlinear control laws, combined with adaptive observers, effectively stabilize the system, outperforming backstepping and PID algorithms.
NONLINEAR DYNAMICS
(2021)
Article
Automation & Control Systems
Jundong Wu et al.
Summary: This article presents a position control method based on bidirectional motion planning and intelligent optimization for stabilizing planar underactuated manipulators without gravity. The method aims to move the end effector from its initial position to a given target position, addressing the second-order nonholonomic constraint and variable passive link positions. The proposed method simplifies and enhances the control process by combining intelligent optimization with bidirectional motion planning.
IEEE TRANSACTIONS ON CYBERNETICS
(2021)
Article
Robotics
Ge Fang et al.
Summary: This study proposes an MR-safe soft robotic system for MRI-guided transoral laser microsurgery, featuring a miniature size, inherent compliance, and five degrees of freedom for safe and dexterous operation within confined oral and pharyngeal cavities. A learning-based controller accommodates the inherent nonlinear robot actuation, validated with laser path-following tests and demonstrating submillimeter laser steering accuracy. MRI compatibility testing showed zero observable image artifacts during robot operation, enabling ex vivo tissue ablation and a cadaveric head-and-neck trial with MR thermometry monitoring.
Article
Automation & Control Systems
Mingxue Cai et al.
Summary: This article presents a novel STFC framework for UVMS using NMPC method, C/GMRES algorithm, and TD to alleviate computational burden and system noise. By predicting future seabed terrain using a depth gauge and an altimeter, the tracking accuracy of the system is improved.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Robotics
Wen Zhou et al.
Article
Engineering, Mechanical
Bin Chen et al.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2019)
Article
Robotics
Robert K. Katzschmann et al.
Article
Automation & Control Systems
Umer Hameed Shah et al.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2017)
Article
Automation & Control Systems
Bin Chen et al.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2017)
Article
Robotics
Ardian Jusufi et al.
Article
Robotics
Wenjing Zhao et al.
JOURNAL OF ROBOTICS AND MECHATRONICS
(2014)
