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1
Sudip, Chakraborty, and S. Aithal P. "A Custom Robotic ARM in CoppeliaSim." International Journal of Applied Engineering and Management Letters (IJAEML) 5, no. 1 (2021): 38–50. https://doi.org/10.5281/zenodo.4700297.
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<strong>Purpose: </strong>For robotics research, we require the robot to test our functions, Logics, algorithms, tasks, etc. Generally, we do not experiment with the practical robot. The primary issue is Practical robots are costly. The individual researcher usually cannot afford it. The second one is, the test with the real robot is risky and can damage property, human life, and itself due to bugs in the program or abnormal activity. So, it is best practice to experiment in Simulator first. When the algorithm is finalized, it can be implemented into a real robot. A researcher who starts the Robotics research, the learning curve is too long to develop a workable robot in Simulator. This paper demonstrates how we can easily create a 7 Degree of Freedom (DOF) custom robot for our research purpose. We will use the CoppeliaSim robot simulator for this purpose. It is free, opensource, and entirely GUI-based. We can create a robot without writing any code using this software. <strong>Design/Methodology/Approach</strong>: Here we describe to develop a custom robot. At first, we created a DH parameter for our robot. Then following the step-by-step procedure, the robot is created. After creating, we can attach our code on any object using LUA script language. To control the robot from external world, we can connect through TCP/IP socket communication. Establishing the communication, our robot will move depending on processed algorithm. <strong>Findings/Result: </strong>The robotic arm researcher needs robotics arm to test their forward kinematics, Inverse kinematics, statics, dynamics etc. code. Here we design our custom robots for research purpose. <strong>Originality/Value: </strong>Using CoppeliaSim, we can design custom robot for our research. <strong>Paper Type: </strong>Simulation based Research
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Achirei, Stefan-Daniel, Razvan Mocanu, Alexandru-Tudor Popovici, and Constantin-Catalin Dosoftei. "Model-Predictive Control for Omnidirectional Mobile Robots in Logistic Environments Based on Object Detection Using CNNs." Sensors 23, no. 11 (2023): 4992. http://dx.doi.org/10.3390/s23114992.
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Object detection is an essential component of autonomous mobile robotic systems, enabling robots to understand and interact with the environment. Object detection and recognition have made significant progress using convolutional neural networks (CNNs). Widely used in autonomous mobile robot applications, CNNs can quickly identify complicated image patterns, such as objects in a logistic environment. Integration of environment perception algorithms and motion control algorithms is a topic subjected to significant research. On the one hand, this paper presents an object detector to better understand the robot environment and the newly acquired dataset. The model was optimized to run on the mobile platform already on the robot. On the other hand, the paper introduces a model-based predictive controller to guide an omnidirectional robot to a particular position in a logistic environment based on an object map obtained from a custom-trained CNN detector and LIDAR data. Object detection contributes to a safe, optimal, and efficient path for the omnidirectional mobile robot. In a practical scenario, we deploy a custom-trained and optimized CNN model to detect specific objects in the warehouse environment. Then we evaluate, through simulation, a predictive control approach based on the detected objects using CNNs. Results are obtained in object detection using a custom-trained CNN with an in-house acquired data set on a mobile platform and in the optimal control for the omnidirectional mobile robot.
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Sudip, Chakraborty, and S. Aithal P. "Forward and Inverse Kinematics Demonstration using RoboDK and C#." International Journal of Applied Engineering and Management Letters (IJAEML) 5, no. 1 (2021): 97–105. https://doi.org/10.5281/zenodo.4939986.
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<strong>Purpose: </strong><em>Robot researchers need a simulator to understand better the algorithm on path planning, arm movement, and many more. They need a good simulator. RoboDK is an excellent simulator to fulfill the research work. It has calibration facilities, so it is industrial-grade software. Its forward and inverse kinematics accuracy is better than any competing software. The main advantage is all robots under one IDE. When we use an industrial robot, and we must use their software environment to operate the robot. But the RoboDK covers most of the robots and runs under one roof. And we need to learn only one IDE. The RoboDK online library is full of the standard robot. And all robot’s operation procedure is the same. So the learning curve of new robots is easy. It is easy to simulate, and it can connect with a practical robot to execute the task. Using this software, we can quickly create digital twins for the industry. Now we think about control the robot from our application. When we use to control the robot from an external environment or remote software, we need the use the API to control the robot. Here we will see how easily we can operate the robot from our custom application. We adopted RoboDK C# API and integrated it into Visual studio using a User interface to control the robot movement. Keeping this research as a reference, the robotic arm researcher can add value to their research. Our primary purpose is to shorten the learning curve to integrate the RoboDK with their custom application.</em> <strong>Design/Methodology/Approach</strong>: <em>Taking the RoboDK C# API they provided, we customized it according to our purpose with minimal components. After developing a graphical user interface, we interact through API. Then, opening both RoboDK IDE and C# application, we can send the End effector position using the sliding movement.</em> <strong>Findings/Result: </strong><em>After our research, we found that RoboDK is a good IDE for our research on the robotics arm. We can easily integrate the C# API they provided with our custom application for research purposes.</em> <strong>Originality/Value: </strong><em>If we want to test robotic arm movement in the simulator, we need an excellent simulator like RoboDK. Integrating the RoboDK C# API is a little bit time-consuming. Using our approach, the researcher can continue their research in a minimal period. And find adequate information here to integrate easily into their project. </em> <strong>Paper Type: </strong><em>Simulation-based Research.</em>
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Sudip, Chakraborty, and S. Aithal P. "ABB IRB 120-30.6 Build Procedure In RoboDK." International Journal of Management, Technology, and Social Sciences (IJMTS) 6, no. 2 (2021): 256–64. https://doi.org/10.5281/zenodo.5782759.
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<strong>Purpose:</strong> <em>Research on robotics needs a robot to experiment on it. The actual industrial robot is costly. So the only resort is to use a Robot simulator. The RoboDK is one of the best robot simulators now. It has covered most of the popular industrial robots. Its interface is straightforward. Just open the software, download the robot as we need, and start experiments. Up to that, no issue was found anywhere. However, the problem begins when we want to build the simulated robot by own. Lots of complexity arises like coordinate assignment, rotation not aligned, length mismatch, robot not synced with DH parameter. We begin to find some documents for making the robots. A few bits of the document are present. That is why we research it. After doing that, we prepared this paper for the researcher who wants to develop the simulated robot independently. This paper can be referenced for them. To minimize the complexity of our research, we study an industrial robot, ABB IRB 120-30.6. It is a good and popular robot. It is six degrees of freedom robot. We will use the specification and STEP file from their respective website and build a simulated robot from the STEP file for our research purpose.</em> <strong>Design/Methodology/Approach</strong>: <em>We will create a simulated robot from ABB IRB 120-30.6 STEP file. To create a robot by own, we took the help of the IRB 120 robot model. To demonstrate as simple as possible, we start with that robot whose default design is already present. We match and tune the joint coordinate based on robot parameters through this experiment.</em> <strong>Findings/results: </strong><em>Here, we see how to create a custom robot. Using the IRB 120 robot model, we will create a robot model step by step. Furthermore, it will move it around its axis.</em> <strong>Originality/Value: </strong> U<em>sing this experiment, the new researcher can get valuable information to create their custom robot.</em> <strong>Paper Type: </strong><em>Simulation-based Research.</em>
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More, Krunal, Sujal Ingale, Glen Joe Dixon, Atharva Tamore, and Pranit Mehata. "Pipe Inspection Robot." International Journal for Research in Applied Science and Engineering Technology 12, no. 4 (2024): 208–15. http://dx.doi.org/10.22214/ijraset.2024.59752.
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Abstract: A pipe inspection robot is device that is inserted into pipes to check for obstruction or damage. These robots are traditionally manufactured offshore, are extremely expensive, and are often not adequately supported in the event or malfunction. This had resulted in associated environmental services limited. A New Zealand utilize of this equipment, facing significant periods of down time as they wait for their robots to be the repaired. Recently, they were informing that several robots were no longer supported. This project was conceived to redesign the electronics control systems one of these PIR, utilizing the existing mechanical platform. Requirements for the robot were that it must operate reliably in confined, dark and wet environments and provides a human wear with a digital video feed of the internal status of the pipes. There robot should as much as possible incorporate off the shaft components, cheap, and potentially onsite repair. This project details the redesign and constructions of such robots. Its employees their electronic boards integrated with mechanical components and provides video feedback via custom graphical interface although at the prototypes state the electronics has been successful with cost of less than a length of the original robot purchase prize
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Heredia, Jorge David Figueroa, Hamdi Sahloul, and Jun Ota. "Teaching Mobile Robots Using Custom-Made Tools by a Semi-Direct Method." Journal of Robotics and Mechatronics 28, no. 2 (2016): 242–54. http://dx.doi.org/10.20965/jrm.2016.p0242.
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[abstFig src='/00280002/15.jpg' width=""300"" text='Teach grasping point by custom-made tool' ]We propose a method for conveying human knowledge to home and office assistance robots by teaching them how to perform the process of grasping objects with a custom-made tool. Specifically, we propose a semi-direct teaching method that respects the limitations of the hardware on the robot while utilizing human experience for intuitive teaching. We specify the information necessary for grasping objects through the generation of teaching data, which include the grasping force, relative position, and orientation. To respect the hardware limitations and at the same time allow inexperienced users to perform the teaching process easily, we used a teaching tool that possesses the same mechanism as the end effector of the robot. To simplify the teaching, we developed a sensing system that would reduce the teaching time with accurate measurements. Subsequently, the robot would use the teaching data to grasp the object. Experiments conducted using volunteers demonstrated the validity of the proposed method, wherein the teaching data for three different tasks were generated in less than 30 s each and accurate measurements were obtained for both the grasping position and force for grasping the objects.
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Xu, Ruomeng, and Qingsong Xu. "Design of a Bio-Inspired Untethered Soft Octopodal Robot Driven by Magnetic Field." Biomimetics 8, no. 3 (2023): 269. http://dx.doi.org/10.3390/biomimetics8030269.
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Inspired by insects in nature, an increasing number of soft robots have been proposed to mimic their locomotion patterns. As a wireless actuation method, the magnetic actuation technique has been widely applied to drive soft magnetic robots for diverse applications. Although recent works on soft materials have stimulated the development of soft robots, it is challenging to achieve the efficient movement of soft robots for in vivo biomedical application. Inspired by centipede locomotion, a soft octopodal robot is designed in this paper. The robot is fabricated by mixing magnetic particles with silicone polymers, which is then magnetized by a specific magnetic field. The prototypes can be actuated by an external magnetic field (5–8 mT) produced by custom-made electromagnetic coils. Experimental results show that the soft robot can move at a high speed in the range of 0.536–1.604 mm/s on different surfaces, including paper, wood, and PMMA. This indicates that the soft robot can achieve comparable speeds to other robots, while being driven by a lower magnitude, resulting in energy savings. Furthermore, it achieves a high speed of 0.823 mm/s on the surface of a pig colon. The fine capabilities of the soft robot in terms of crossing uneven biological surfaces and carrying external loads are demonstrated. The results indicate that the reported soft robot exhibits promising applications in the biomedical field.
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Inziarte-Hidalgo, Ibai, Estela Nieto, Diego Roldan, Gorka Sorrosal, Jesus Perez-Llano, and Ekaitz Zulueta. "Reinforcement Learning-Based Control for Collaborative Robotic Brain Retraction." Sensors 24, no. 24 (2024): 8150. https://doi.org/10.3390/s24248150.
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In recent years, the application of AI has expanded rapidly across various fields. However, it has faced challenges in establishing a foothold in medicine, particularly in invasive medical procedures. Medical algorithms and devices must meet strict regulatory standards before they can be approved for use on humans. Additionally, medical robots are often custom-built, leading to high costs. This paper introduces a cost-effective brain retraction robot designed to perform brain retraction procedures. The robot is trained, specifically the Deep Deterministic Policy Gradient (DDPG) algorithm, using reinforcement learning techniques with a brain contact model, offering a more affordable solution for such delicate tasks.
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Hou, Yaxin, Yuguo Dai, Wei Zhang, Minghui Wang, Hanxue Zhao, and Lin Feng. "Ultrasound-Based Real-Time Imaging of Hydrogel-Based Millirobots with Volume Change Capability." Micromachines 14, no. 2 (2023): 422. http://dx.doi.org/10.3390/mi14020422.
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Soft-bodied robots driven by external fields have better environmental adaptability, extending their applications. Nature also provides lots of inspiration for shape-morphing robot development, for example, larvae and jellyfish. This paper presents magnetically propelled hydrogel-based millirobots with volume changeability. The millirobot can be imaged in real time in a completely enclosed space with an ultrasound imaging system. Firstly, a custom-designed magnetic generating system with six square coils was introduced to generate a uniform field to propel the robot. The robot was fabricated using hydrogel with a thickness of around 300 μm. After programmable magnetization, the robot could change its shape and move using the rotating magnetic field. With the near-infrared illumination, the robot could shrink and could recover when the illumination stopped. Even when the robot shrank, it could be propelled by the external field, showing its potential usage in complex environments. Moreover, the posture information of the robot including the position and shape could be obtained in real time using ultrasound image technology.
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Saphala, Addythia, and Prianggada Indra Tanaya. "Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot." CommIT (Communication and Information Technology) Journal 9, no. 2 (2015): 59. http://dx.doi.org/10.21512/commit.v9i2.1646.
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Robotic Operation System (ROS) is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR), which can be considered as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM).
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Boonhaijaroen, Narit, and Ratchatin Chancharoen. "Walking of a Delta Robot in Image Space." Applied Mechanics and Materials 415 (September 2013): 38–44. http://dx.doi.org/10.4028/www.scientific.net/amm.415.38.
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The Delta robot with the custom built eye in hand CMOS camera is successfully controlled to walk along a PCB trace that is visually feedback. The trace, that is used to demonstrate the performance of the system, contains not only smooth but also right angle paths. However, the overall working accuracy is still within two and a half millimeters as the probe is staying on the trace all the way. The elliptic convolution scanning is proposed to determine the walking direction from an acquired image. The major and minor axes of the elliptic mask are designed to fit the walking direction and the width of the trace respectively. In this way, the elliptic mask, that is best sit on the trace in image space, indicates the direction the robot should walk. The custom built vision system acquires and processes image at 30 fps. The walking command is then sent via TCP/UDP to the Delta robots controller which is run at a much higher servo rate (2000 Hz). The probe unit is designed and built to verify the working accuracy of the proposed system.
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Budde, Leon, Sontje Ihler, Svenja Spindeldreier, et al. "A Six Degree of Freedom Extrusion Bioprinter." Current Directions in Biomedical Engineering 8, no. 2 (2022): 137–40. http://dx.doi.org/10.1515/cdbme-2022-1036.
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Abstract Motivated by a high demand, the research interest in personalized artificial tissues is steadily increasing. Combining knowledge of additive manufacturing and tissue engineering, the research field of 3D bioprinting emerged. This work presents a six-degree-of-freedom mechanically actuated extrusion bioprinter within a sterile working environment. The system is based on an off-the-shelf robot arm and a custom modular printhead end-effector. Advanced dexterity is achieved by the six degrees of freedom, enabling printing on non-planar surfaces. The printhead is designed for co-axial extrusion of three fluids but can easily be adapted for different number of fluids or different extrusion flows. The custom controller of the system is implemented within the Robot Operating System (ROS) framework and plans the trajectory based on a path given in a custom GCode dialect. Since the robot is clean-room-certified, can be sterilized using hydrogen peroxide steam, and is placed within a sterile hood, the setup enables working under sterile conditions.
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Haluška, Jakub, Anton Koval, and George Nikolakopoulos. "On the Unification of Legged and Aerial Robots for Planetary Exploration Missions." Applied Sciences 12, no. 8 (2022): 3983. http://dx.doi.org/10.3390/app12083983.
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In this article, we address the task of developing a unified solution that incorporates quadruped and aerial robots for planetary exploration missions. The designing process takes recommendations provided by Boston Dynamics for building custom payloads for the Spot robot, as well as its kinematic constraints. The unification task itself encompasses design of a passive drone landing platform as a hardware link between the Spot robot and the drone, which has active locking and unlocking capabilities required to securely keep the drone on the Spot independently whether it is standing or moving. Thus, in the designed unification solution, the landing platform does not impact the overall robot mobility and has no interference with the robot’s legs. The initial solution design was extensively evaluated in a series of tests at the laboratory, which demonstrated its viability.
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Sudip, Chakraborty, and S. Aithal P. "How To Create Our Custom Model in CoppeliaSim From 3D File." International Journal of Applied Engineering and Management Letters (IJAEML) 7, no. 2 (2023): 164–74. https://doi.org/10.5281/zenodo.8117666.
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<strong>Purpose: </strong>This paper aims to provide a comprehensive guide to creating custom models in CoppeliaSim from 3D files. It equips users with the necessary knowledge and skills to design and simulate their unique robotic systems within the CoppeliaSim environment. By creating it, users can design robots with unique geometries and configurations that align with their specific requirements and research objectives. It enables users to represent real-world robots or prototypes in the virtual environment accurately. It provides a platform to test and validate robot designs before physical implementation. Users can simulate different scenarios, assess the feasibility of their concepts, and identify potential issues or improvements early in the design process, thereby saving time and resources. It equips students, researchers, and robotics enthusiasts with practical knowledge and hands-on experience designing and simulating custom robot models. It also encourages collaboration and knowledge sharing within the robotics community. <strong>Design/Methodology/Approach</strong>: Download the desired model for Simulation from the website. Import 3D model into the environment. Configures various properties of the model. This includes defining physical properties, and visual appearance, for realistic rendering. The process also determines the kinematic properties of the model. It involves creating linkages, defining joint properties, and establishing parent-child relationships between objects. Add child scripts. Save the model for future use. <strong>Findings/Result: </strong>Here, we provide the process for importing 3D files into CoppeliaSim. Users could import their necessary models without an issue, ensuring the accurate representation of 3D object geometry in the simulation environment. Users could establish linkages, define joint properties, and set parent-child relationships, allowing for accurate kinematic simulations and motion analysis. <strong>Originality/Value: </strong>It provides a comprehensive step-by-step guide on creating custom models in CoppeliaSim from 3D files. It covers all the essential aspects and ensures that users understand the entire process clearly, making it a valuable resource for beginners and experienced users. <strong>Paper Type: </strong>Experimental-based Research.
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Connolly, Laura, Anton Deguet, Simon Leonard, et al. "Bridging 3D Slicer and ROS2 for Image-Guided Robotic Interventions." Sensors 22, no. 14 (2022): 5336. http://dx.doi.org/10.3390/s22145336.
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Developing image-guided robotic systems requires access to flexible, open-source software. For image guidance, the open-source medical imaging platform 3D Slicer is one of the most adopted tools that can be used for research and prototyping. Similarly, for robotics, the open-source middleware suite robot operating system (ROS) is the standard development framework. In the past, there have been several “ad hoc” attempts made to bridge both tools; however, they are all reliant on middleware and custom interfaces. Additionally, none of these attempts have been successful in bridging access to the full suite of tools provided by ROS or 3D Slicer. Therefore, in this paper, we present the SlicerROS2 module, which was designed for the direct use of ROS2 packages and libraries within 3D Slicer. The module was developed to enable real-time visualization of robots, accommodate different robot configurations, and facilitate data transfer in both directions (between ROS and Slicer). We demonstrate the system on multiple robots with different configurations, evaluate the system performance and discuss an image-guided robotic intervention that can be prototyped with this module. This module can serve as a starting point for clinical system development that reduces the need for custom interfaces and time-intensive platform setup.
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Sudip, Chakraborty, and S. Aithal P. "An Inverse Kinematics Demonstration of a Custom Robot using C# and CoppeliaSim." International Journal of Case Studies in Business, IT, and Education (IJCSBE) 5, no. 1 (2021): 78–87. https://doi.org/10.5281/zenodo.4755778.
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<strong>Purpose: </strong>Inverse Kinematics (I.K.) is not as easy as Forward kinematics (F.K.), where we get a definite result. I.K. algorithm provides several possible solutions. From those finding the best solution is such a critical task. For standard robots which are commercially available in the market, the user is not concerned about I.K.'s complexity. They provide the control board and programming IDE to make it easy. However, when we develop a robotic arm from our D.H. parameter and driver board, complexity arises due to lots of difficulties for executing and successful completion. To make life easy, keeping CoppeliaSim background can eliminate the calculation overhead and get good results. The custom robot is running with less computation power. It may be a good approach. We are using C# for User Interaction. Following step by step, anyone can create a robust I.K. engine with little effort. The complete code is available in GitHub to test and experiment further. <strong>Design/Methodology/Approach</strong>: The data are propagated through Interprocess communication. For the user interaction, we use visual studio IDE using the most accessible language, C#. The user interaction data are sent to another application, CoppeliaSim, which calculates inverse kinematics, and effective results are displayed through robotic arm movement. <strong>Findings/Result: </strong>Implementing this procedure can get the excellent result of the robotics arm. Furthermore, by imposing the Value on the real robot, we can get effective results. It minimizes the research overhead on I.K. calculation. <strong>Originality/Value: </strong> Without knowing I.K. calculation complexity, receiving the Value, we can apply it to the real robot. Two issues we can solve here. One is the calculation, and another one is experiment overhead. <strong>Paper Type: </strong>Simulation-based Research.
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Kim, Joonyoung, Taewoong Kang, Dongwoon Song, and Seung-Joon Yi. "Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot." Applied Sciences 11, no. 9 (2021): 3762. http://dx.doi.org/10.3390/app11093762.
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In this paper, we present a new open source dynamic quadruped robot, PADWQ (pronounced pa-dook), which features 12 torque controlled quasi direct drive joints with high control bandwidth, as well as onboard depth sensor and GPU-equipped computer that allows for a highly dynamic locomotion over uncertain terrains. In contrast to other dynamic quadruped robots based on custom actuator and machined metal structural parts, the PADWQ is entirely built from off the shelf components and standard 3D printed plastic structural parts, which allows for a rapid distribution and duplication without the need for advanced machining process. To make sure that the plastic structural parts can withstand the stress of dynamic locomotion, we performed finite element analysis (FEA) on leg structural parts as well as a continuous walking test using the physical robot, both of which the robot has passed successfully. We hope this work to help a wide range of researchers and engineers that need an affordable, highly capable and easily customizable quadruped robot.
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Wang, Zheng Dong, Kai He, Hai Tao Fang, and Ru Xu Du. "Design of Embedded Controller with Flexible Programming for Industrial Robot." Applied Mechanics and Materials 457-458 (October 2013): 1390–95. http://dx.doi.org/10.4028/www.scientific.net/amm.457-458.1390.
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This paper presents an embedded controller of low cost and high performance for industrial robot. The ARM microprocessor is chosen as the main controller for the processor. Based on the 7-segment cubic spline interpolation algorithm, a real-time control for the robot is implemented. This proposed trajectory method can perfectly generates speed S-curve shape for a start-stop process of the robot. In this article a programming language, G-code, is developped for the robots motion control by using the editing interface we designed specially on PC platform. With all the features for 2-4 degree of freedom robot application, the editing interface has been developed for editing and compiling G-code, which can be downloaded into the microprocessor with the custom communication protocol through communication interface. The programming method of the G-code language is easy to learn and use for the non-professional users. The paper describes the design and implementation in detail for the controller, which was validated on our designed SCARA robot, and it worked reliably.
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Samarathunga, Samarathunga Mudiyanselage Buddhika Piyumal Bandara, Marcello Valori, Rodolfo Faglia, Irene Fassi, and Giovanni Legnani. "Considerations on the Dynamics of Biofidelic Sensors in the Assessment of Human–Robot Impacts." Machines 12, no. 1 (2023): 26. http://dx.doi.org/10.3390/machines12010026.
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Ensuring the safety of physical human–robot interaction (pHRI) is of utmost importance for industries and organisations seeking to incorporate robots into their workspaces. To address this concern, the ISO/TS 15066:2016 outlines hazard analysis and preventive measures for ensuring safety in Human–Robot Collaboration (HRC). To analyse human–robot contact, it is common practice to separately evaluate the “transient” and “quasi-static” contact phases. Accurately measuring transient forces during close human–robot collaboration requires so-called “biofidelic” sensors that closely mimic human tissue properties, featuring adequate bandwidth and balanced damping. The dynamics of physical human–robot interactions using biofidelic measuring devices are being explored in this research. In this paper, one biofidelic sensor is tested to analyse its dynamic characteristics and identify the main factors influencing its performance and its practical applications for testing. To this aim, sensor parameters, such as natural frequency and damping coefficient, are estimated by utilising a custom physical pendulum setup to impact the sensor. Mathematical models developed to characterise the sensor system and pendulum dynamics are also disclosed.
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Puusepp, Andres, Tanel Tammet, and Enar Reilent. "Covering an Unknown Area with an RFID-Enabled Robot Swarm." Applied Mechanics and Materials 490-491 (January 2014): 1157–62. http://dx.doi.org/10.4028/www.scientific.net/amm.490-491.1157.
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Our goal is to improve the coverage of an area using robots with simple sensors and simple, robust algorithms usable for any kind of room. We investigate the advantage of the swarm - compared to a single robot - and three different algorithms for the task of searching landmarks in a previously unknown area. The guidance of the robot is based on landmarks, implemented by RFID tags irregularly placed in the room. The experiments are conducted using a custom made simulator of RFID-equipped Roomba cleaning robots, based on our previous work with real-life Roomba swarms. We show that for the simple room coverage algorithms the speedup gained from increasing the size of the swarm diminishes as the swarm grows and most importantly, for larger swarm sizes the information available and the intelligence of the algorithm becomes less important.
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Vatau, Steliana, Valentin Ciupe, and Inocentiu Maniu. "Java Simulator for Quadruped Walking Robot." Solid State Phenomena 166-167 (September 2010): 445–50. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.445.
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With advances in science and technology, the interest to study the animals walking has developed the demand for building the legged robots. Physics-based simulation and control of quadruped locomotion is difficult because quadrupeds are unstable, under actuated, high-dimensional dynamical systems. We develop a simple control strategy that can be used to generate a large variety of gaits and styles in real-time, including walking in all directions (forwards, backwards, sideways, turning). The application named JQuadRobot is developed in Java and Java3D API. A Graphical User Interface and a simulator for a custom quadruped leg's robot and the main features of the interface are presented in this paper. This application is developed in Java and is essential in a development motion for legged robot. The friendly interface, allows any user to define and test movements for this robot. The cross-platform capability was the first reason to choose Java language for developing this application.
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LIU, LIN, YUN-YONG SHI, and LE XIE. "A NOVEL MULTI-DOF EXOSKELETON ROBOT FOR UPPER LIMB REHABILITATION." Journal of Mechanics in Medicine and Biology 16, no. 08 (2016): 1640023. http://dx.doi.org/10.1142/s0219519416400236.
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Patients who suffer from stroke have motion function disorders. They need rehabilitation training guided by doctors and trainers. Nowadays, robots have been introduced to help the patients regain their motion function in rehabilitation training. In this paper, a novel multi degree of freedom (DOF) exoskeleton robot, with light weight, including (6[Formula: see text]1) DOFs, named as Rehab-Arm, is proposed and developed for upper limb rehabilitation. The joints of the robot are equipped with micro motors which are capable of actuating each DOF respectively and simultaneously. The medial/lateral rotation of shoulder is realized by a semi-circle guide mechanism for convenience consideration and safety. The robot is used in sitting posture which is attached to a custom made chair. Hence, the robot can be used to assist patients in passive movement with 7 DOFs of the upper limb for rehabilitation. Five adult healthy male subjects participated in the experiment to test the joint movement accuracy of the robot. Finally, subjects can wear Rehab-Arm and move their upper limb, led by micro motors of the robot, to perform task assigned with specific trajectory.
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Kamalova, Albina, Suk Gyu Lee, and Soon Hak Kwon. "Occupancy Reward-Driven Exploration with Deep Reinforcement Learning for Mobile Robot System." Applied Sciences 12, no. 18 (2022): 9249. http://dx.doi.org/10.3390/app12189249.
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This paper investigates the solution to a mobile-robot exploration problem following autonomous driving principles. The exploration task is formulated in this study as a process of building a map while a robot moves in an indoor environment beginning from full uncertainties. The sequence of robot decisions of how to move defines the strategy of the exploration that this paper aims to investigate, applying one of the Deep Reinforcement Learning methods, known as the Deep Deterministic Policy Gradient (DDPG) algorithm. A custom environment is created representing the mapping process with a map visualization, a robot model, and a reward function. The actor-critic network receives and sends input and output data, respectively, to the custom environment. The input is the data from the laser sensor, which is equipped on the robot. The output is the continuous actions of the robot in terms of linear and angular velocities. The training results of this study show the strengths and weaknesses of the DDPG algorithm for the robotic mapping problem. The implementation was developed in MATLAB platform using its corresponding toolboxes. A comparison with another exploration algorithm is also provided.
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Khan, Tareq. "Towards a Low-Cost Object Collecting and Organizing Household Robot using Deep Learning." European Journal of Electrical Engineering and Computer Science 6, no. 6 (2022): 16–25. http://dx.doi.org/10.24018/ejece.2022.6.6.469.
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Recent advances in deep learning algorithms, and the availability of low-cost sensors, processors, and actuators are opening up a new opportunity for making household robots with a limited budget. Household robots can help automate the monotonous tasks of daily life such as putting dishes in the dishwasher, folding the laundry after washing, cleaning the floor, and organizing kids’ toys on the shelf at the end of the day. In this paper, a robot has been developed that can detect and recognize an object using deep learning from images, move toward the object scoops and lifts the object, and then puts the object to its assigned level on a shelf. This robot can be used to collect and organize objects such as toys, in the kid’s room. A deep learning model is trained with a custom dataset and the mean average precision (mAP) of the object detector is 79.1%. A prototype of the robot - with mechanical structure, camera, motors, controller, and image processing algorithms - is developed and tested successfully.
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NALPANTIDIS, LAZAROS, and ANTONIOS GASTERATOS. "STEREOVISION-BASED FUZZY OBSTACLE AVOIDANCE METHOD." International Journal of Humanoid Robotics 08, no. 01 (2011): 169–83. http://dx.doi.org/10.1142/s0219843611002381.
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This work presents a stereovision-based obstacle avoidance method for autonomous mobile robots. The decision about the direction on each movement step is based on a fuzzy inference system. The proposed method provides an efficient solution that uses a minimum of sensors and avoids computationally complex processes. The only sensor required is a stereo camera. First, a custom stereo algorithm provides reliable depth maps of the environment in frame rates suitable for a robot to move autonomously. Then, a fuzzy decision making algorithm analyzes the depth maps and deduces the most appropriate direction for the robot to avoid any existing obstacles. The proposed methodology has been tested on a variety of self-captured outdoor images and the results are presented and discussed.
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Johnson, Michelle Jillian, Roshan Rai, Sarath Barathi, Rochelle Mendonca, and Karla Bustamante-Valles. "Affordable stroke therapy in high-, low- and middle-income countries: From Theradrive to Rehab CARES, a compact robot gym." Journal of Rehabilitation and Assistive Technologies Engineering 4 (January 2017): 205566831770873. http://dx.doi.org/10.1177/2055668317708732.
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Affordable technology-assisted stroke rehabilitation approaches can improve access to rehabilitation for low-resource environments characterized by the limited availability of rehabilitation experts and poor rehabilitation infrastructure. This paper describes the evolution of an approach to the implementation of affordable, technology-assisted stroke rehabilitation which relies on low-cost mechatronic/robot devices integrated with off-the-shelf or custom games. Important lessons learned from the evolution and use of Theradrive in the USA and in Mexico are briefly described. We present how a stronger and more compact version of the Theradrive is leveraged in the development of a new low-cost, all-in-one robot gym with four exercise stations for upper and lower limb therapy called Rehab Community-based Affordable Robot Exercise System (Rehab C.A.R.E.S). Three of the exercise stations are designed to accommodate versions of the 1 DOF haptic Theradrive with different custom handles or off-the-shelf commercial motion machine. The fourth station leverages a unique configuration of Wii-boards. Overall, results from testing versions of Theradrive in USA and Mexico in a robot gym suggest that the resulting presentation of the Rehab C.A.R.E.S robot gym can be deployed as an affordable computer/robot-assisted solution for stroke rehabilitation in developed and developing countries.
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De Fazio, Roberto, Dany Mpoi Katamba, Aimè Lay Ekuakille, et al. "Sensors-based mobile robot for harsh environments: functionalities, energy consumption analysis and characterization." ACTA IMEKO 10, no. 2 (2021): 209. http://dx.doi.org/10.21014/acta_imeko.v10i2.907.
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Mobile robots and rovers play an important role in many industrial applications. Under certain constraints, they are suitable in harsh environments and conditions in which protracted human activity is not safe or permitted. In many circumstances, mechanical aspects and electrical consumption need to be optimized for autonomous and wheeled mobile robots. The paper illustrates the design of a semi-custom wheeled mobile robot with high-efficiency mono- or polycrystalline photovoltaic panel on the roof that supports the lithium ion batteries during particular tasks (e.g. navigating rough terrain, obstacles or steep paths) to extend the robot’s autonomy. An electronic controller was designed, and data acquisition related to power consumption performed using a specific experimental setup. The robot can detect parameters such as temperature, humidity, concentrations of toxic gas species and the presence of flames, making it particularly suitable for contaminated environments or industrial plants. For this aim, the mobile robot was equipped with a wide range of commercial sensors and a Global Positioning System receiver to track its position. In addition, using an HC-06 Bluetooth transceiver, the robot receives commands and instructions, and sends the acquired data to the developed IoTool smartphone application, where they are displayed to be analysed by user.
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Yang, Manman, Andrew Blight, Hitesh Bhardwaj, et al. "TinyML-Based In-Pipe Feature Detection for Miniature Robots." Sensors 25, no. 6 (2025): 1782. https://doi.org/10.3390/s25061782.
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Miniature robots in small-diameter pipelines require efficient and reliable environmental perception for autonomous navigation. In this paper, a tiny machine learning (TinyML)-based resource-efficient pipe feature recognition method is proposed for miniature robots to identify key pipeline features such as elbows, joints, and turns. The method leverages a custom five-layer convolutional neural network (CNN) optimized for deployment on a robot with limited computational and memory resources. Trained on a custom dataset of 4629 images collected under diverse conditions, the model achieved an accuracy of 97.1%. With a peak RAM usage of 195.1 kB, flash usage of 427.9 kB, and an inference time of 1693 ms, the method demonstrates high computational efficiency while ensuring stable performance under challenging conditions through a sliding window smoothing strategy. These results highlight the feasibility of deploying advanced machine learning models on resource-constrained devices, providing a cost-effective solution for autonomous in-pipe exploration and inspection.
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Kirandziska, Vesna, and Nevena Ackovska. "Comparison of emotion evaluation perception using human voice signals of robots and humans." International Journal of Business & Technology 2, no. 2 (2014): 13–17. http://dx.doi.org/10.33107/ijbte.2014.2.2.03.
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Emotion perception is the process of perceiving other people’s emotions. It can be based on their facial expression, movement, voice and other biosignals people emit. The evaluation of human’s emotion is one characteristic of emotions. One of the research areas in Robotics is adapting humanistic behavior in robots. Today many robots are constructed. Some of them can even perceive emotions. In this paper a custom built emotion aware robot that perceives emotion evaluation is used to investigate the similarity and differences of the robot's and human's emotion perception. Voice signals from real human were recorded and the information for the emotion evaluation was obtained from our robot, but also from a set of human evaluators. This paper presents the results of the experiments done. The experimental results show the difficulty of the problem of emotion evaluation perception in general. The significance of human voice signals in emotion evaluation is also investigated.
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ANASTASIU, Alexandru-Ioan, Cozmin CRISTOIU, and Florea Dorel ANANIA. "EDUCATIONAL 5 AXIS ROBOT CONTROLLER OPTIMIZATION USING ARM HARDWARE INSTRUCTIONS." ANNALS OF THE ACADEMY OF ROMANIAN SCIENTISTS Series on ENGINEERING SCIENCES 14, no. 1 (2022): 32–43. http://dx.doi.org/10.56082/annalsarscieng.2022.1.32.
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This paper presents a programming method of a Raspberry Pi controller for a 5-axis articulated arm robot. The goal is optimization of direct kinematics calculations, based on the universal approach for direct kinematics method. Matrix multiplication is implemented using ARM hardware instructions. The main advantage of this method is lower computation time, which means faster robot response time. Programmability of the robot is done by means of a custom-made instruction set, called RASM.
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Jo, Yong Hwan, Se Yeon Cho, and Byoung Wook Choi. "Towards a ROS2-based software architecture for service robots." Bulletin of Electrical Engineering and Informatics 12, no. 5 (2023): 3027–38. http://dx.doi.org/10.11591/eei.v12i5.5590.
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This paper presents a scalable software architecture based on robot operating system 2 (ROS2) for service robots. ROS2 supports the data distribution service (DDS) protocol that provides benefits such as real-time operation and security and performance enhancements. However, ROS2 still lacks task management capabilities, essential for practical robotic applications consisting of multiple threads and processes. Moreover, integrating new devices into ROS2 requires additional development effort to create specific drivers for specific devices. The proposed software architecture addresses these drawbacks and provides a simple and user-friendly programming interface for easier integrating of various devices and existing ROS2 applications. Moreover, it is designed using python with multi-processing to avoid issues related to the python global interrupt lock (GIL). To verify the developed software architecture, an application for a custom-made service robot called the SeoulTech service robot (SSR) is implemented on a Jetson Xavier NX board with various features, such as ROS2 navigation and SLAM, text-to-speech (TTS), speech recognition, and face recognition.
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Cristoiu, Cozmin, Stan Laurentiu, and Ivan Mario. "VIRTUAL GEOMETRIC MODEL WITH DYNAMIC PARAMETERS FOR 6 DOF ARTICULATED ARM ROBOT." International Journal of Modern Manufacturing Technologies 14, no. 2 (2022): 30–39. http://dx.doi.org/10.54684/ijmmt.2022.14.2.30.
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To calculate joints angles of an articulated arm robot, when the coordinates of the point to be reached are known, different calculation methods or iterative algorithms for inverse kinematics (IK) can be used. IK requires that the dimensions of the robot segments and the initial positions of the joints to be known, described, and implemented mathematically, so it is based on the geometric model of the robot. In practice, the geometric modeling of the robots is done considering that all their structural elements are rigid, and their dimensions and positions are considered constant (while in reality the robots suffer certain deformations that can have different causes). This article considers the thermal deformations that a robot suffers during operation which are leading to positioning errors. The deformations are variable during the warm-up period of the robot and become constant after reaching the thermal stabilization level. From this point of view, if it is desired to consider and possibly compensate these thermal induced errors, the elaboration of the geometric model of the robot in the classical way is no longer possible and the geometric parameters must be somehow described as variables. Thermal deformations produce displacements and torsions of the robot elements. Linear and angular deviations may occur from the initial (theoretical) position in all 3 directions of the cartesian axis systems used in robot modeling. This paper presents a technique for creating a virtual model of the ABB IRB140 robot in CoppeliaSim, programming and modeling environment, with the positioning of the axis systems attached to the joints identical to the real position (unlike simplified versions of Denavit-Hartenberg geometric models) and the logic of a custom written software algorithm for automatic deformation of the model.
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Herve, Samba Aime. "Computer Interface for Remote Teleoperated Mobile Robot Based on LabVIEW and Open Source Hardware." DESIGN, CONSTRUCTION, MAINTENANCE 2 (May 7, 2022): 115–24. http://dx.doi.org/10.37394/232022.2022.2.17.
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A remote controlled mobile robot utilizing National Instruments LabVIEW software, communicating over a low-rate serial ISM radio link. The robot is modular in design with system modules connected via serial interfaces to a system controller. A custom power supply and distribution circuit board provides power to the robot using sealed lead acid batteries as the source. The mobile robot streams system voltage and current status, JPEG images, ambient temperature and humidity readings, and GPS location. The project demonstrates the successful use of LabVIEW to develop a system using communication over lowrate serial radio links.
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Zhang, Ying, Xiaoyu Liu, Xiaofeng Qiao, and Yubo Fan. "Trending Topics in Research on Rehabilitation Robots during the Last Two Decades: A Bibliometric Analysis." Machines 10, no. 11 (2022): 1061. http://dx.doi.org/10.3390/machines10111061.
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Rehabilitation robots, as representative advanced modern rehabilitation devices, are automatically operated machines used for improving the motor functions of patients. Research on rehabilitation robots is typically multidisciplinary research involving technical engineering, clinical medicine, neural science, and other disciplines. Understanding the emerging trends and high-impact publications is important for providing an overview of rehabilitation robot research for interested researchers. Bibliometric analysis is the use of statistical methods to analyze publications over a period of time, which can provide visual insights into the relationships between studies and their publications. In this study, we used “rehabilitation robot *” as a topic term to collect 3527 papers from Web of Science in 127 subject categories published between 2000 and 2019. Rehabilitation robot research has increased rapidly over the past 20 years, 10 key clusters of which were analyzed in this narrative review: improving functional ability after stroke, spinal cord injury, universal haptic drive, robotic-assisted treadmill therapy, treadmill training, increasing productivity, custom-designed haptic training, physical treatment strategies, arm movement therapy, and rehabilitation robotics. Based on this database, we constructed co-citation and co-occurrence networks that were characterized by betweenness centrality values of more than 0.08 and citation bursts with strengths of more than 23, thereby visualizing the emerging trends in the research of rehabilitation robots.
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Martelloni, Luisa, Marco Fontanelli, Stefano Pieri, et al. "Assessment of the Cutting Performance of a Robot Mower Using Custom Built Software." Agronomy 9, no. 5 (2019): 230. http://dx.doi.org/10.3390/agronomy9050230.
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Before the introduction of positioning technologies in agriculture practices such as global navigation satellite systems (GNSS), data collection and management were time-consuming and labor-intensive tasks. Today, due to the introduction of advanced technologies, precise information on the performance of agricultural machines, and smaller autonomous vehicles such as robot mowers, can be collected in a relatively short time. The aim of this work was to track the performance of a robot mower in various turfgrass areas of an equal number of square meters but with four different shapes by using real-time kinematic (RTK)-GNSS devices, and to easily extract data by a custom built software capable of calculating the distance travelled by the robot mower, the forward speed, the cutting area, and the number of intersections of the trajectories. These data were then analyzed in order to provide useful functioning information for manufacturers, entrepreneurs, and practitioners. The path planning of the robot mower was random and the turfgrass area for each of the four shapes was 135 m2 without obstacles. The distance travelled by the robot mower, the mean forward speed, and the intersections of the trajectories were affected by the interaction between the time of cutting and the shape of the turfgrass. For all the different shapes, the whole turfgrass area was completely cut after two hours of mowing. The cutting efficiency decreased by increasing the time, as a consequence of the increase in overlaps. After 75 minutes of cutting, the efficiency was about 35% in all the turfgrass areas shapes, thus indicating a high level of overlapping.
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Saan Cern, Yong, and Yeoh Sheng Ze. "The Design of a New 3D Print-in-place Soft Four-Legged Robots with Artificial Intelligence." Jurnal Kejuruteraan 35, no. 3 (2023): 717–33. http://dx.doi.org/10.17576/jkukm-2023-35(3)-20.
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Soft and flexible robots are designed to change their flexibility over a wide range to perform tasks adequately in real-world applications. Current soft robots require cast moulding, high assembly effort and large actuators. Soft origami structures exhibit high levels of compliance. In this paper, we designed a new 3D print-in-place soft four-legged robot (3DSOLR). Our soft legged robot is an endurance application adapted from the soft origami zigzag gripper. This novel and innovative design are inspired by the rigid joint Theo Jansen legged robot with highly adaptive 3D print-in-place soft origami legs capable of fluid motion and even surviving drop tests. The robot mechanism consists of four soft origami flexible legs driven by two DC motors. The 3DSOLR is lightweight and semi-autonomous using two Hall effect sensors and a wireless Bluetooth module. Being 3D print-in-place using Thermoplastic polyurethane also increases its durability while having flexibility, simplicity and safety. The robot also has a gripper inspired by the mandible of male European stag beetle (Lucanus cervus). These features make this robot suitable to be used in social robotics and rescue robotics applications. The transmitter program is implemented in Bluetooth serial communication using MIT App Inventor 2 smartphone apps and a microcontroller Arduino ATMEL is used as the main controller and code in Arduino IDE. It has artificial intelligence (AI) capability with ESP32 CAM onboard which has an object classification accuracy of 95.5% using custom Edge Impulse neural network MobileNetV1 96 x 96. This AI capability enhanced the robot’s capability in object classification for grasping.
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P, Dr Aswathappa, and Varun A. "Soft Continuum Robots Design for Supervision and Investigation." International Journal of Innovative Research in Advanced Engineering 11, no. 12 (2024): 987–98. https://doi.org/10.26562/ijirae.2024.v1112.16.
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Researchers are developing a new class of continuum robots characterized by tip extension, significant length change, and directional control. In this article, we call these vine robots because of their similarity to plants in their growth trailing behavior. Due to their growth based movement, vine robots are well suited for navigation and exploration in cluttered environments. Until now, however, they have not been deployed outside the lab. There are three features that are key for successful deployment in the field. First is portability. Second is the ability to be guided over long enough distances to be useful for navigation. Third is intuitive human in the loop teleoportation, which enables movement in unknown and dynamic environments. We present a vine robot system that is teleoperated using a custom designed flexible joystick and camera system, can extend long enough for use in navigation tasks, and is portable for use in the field. We report on the deployment of this system in two scenarios: completion of a soft robot navigation competition and exploration of an archaeological site. The competition course required movement over uneven terrain, past unstable obstacles, and through a small aperture. The archeological site required movement over rocks and through horizontal and vertical turns. The robot tip successfully moved past the obstacles and through the tunnels, demonstrating the capability of vine robots to achieve navigation and exploration tasks in the field.
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Rodriguez-Castaño, Angel, Saeed Rafee Nekoo, Honorio Romero, Rafael Salmoral, José Ángel Acosta, and Anibal Ollero. "Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation." Applied Sciences 11, no. 16 (2021): 7427. http://dx.doi.org/10.3390/app11167427.
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This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system; the tests were carried out in an indoor testbed using a power line cable mock-up.
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Rodriguez-Castaño, Angel, Nekoo Saeed Rafee, Honorio Romero, Rafael Salmoral, Jose Angel Acosta, and Anibal Ollero. "Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation." Applied Sciences 11, no. 7427 (2021): 1–16. https://doi.org/10.3390/app11167427.
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This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system; the tests were carried out in an indoor testbed using a power line cable mock-up.
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Martín-Barrio, Andrés, Juan Jesús Roldán-Gómez, Iván Rodríguez, Jaime del Cerro, and Antonio Barrientos. "Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks." Sensors 20, no. 8 (2020): 2181. http://dx.doi.org/10.3390/s20082181.
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Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications.
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Dinkel, Johanna, Denise Weinmann, Peter P. Pott, and Max B. Schäfer. "Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy." Current Directions in Biomedical Engineering 10, no. 4 (2024): 187–90. https://doi.org/10.1515/cdbme-2024-2045.
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Abstract Colonoscopy plays a pivotal role in early colorectal disease detection. It is hindered by procedural difficulties such as friction between colonoscope and colon wall as well as maneuverability issues. Expanding robots offer a promising alternative, aiming for a reduced risk of tissue damage and reduced forces between colononscope and tissue. In this paper, the usage of expanding locomotion for colonoscopy is investigated to address technical challenges. Preliminary tests on a custom-designed test rig demonstrate the potential of intermitted advancement and retraction modes to overcome challenges such as the difference in pathlength of robot body and working channel as well as the typical buckling during retraction of expanding robots. Future research will focus on refining control systems based on sensor feedback and evaluating additional parameters for clinical application.
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Sudip, Chakraborty, and S. Aithal P. "A Smart IDE for Robotics Research." International Journal of Management, Technology, and Social Sciences (IJMTS) 7, no. 1 (2022): 513–19. https://doi.org/10.5281/zenodo.6781577.
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<strong>Purpose: </strong><em>We see the robot is engaged in every task, from the hazardous industrial environment to the floor cleaning. We are benefited directly or indirectly from robots in our everyday life. This is the untired efforts of many Robot researchers who play a significant role behind the scenes. They pass lots of tests before releasing the robot for humans. Most of the test procedure is to send the command from the IDE to the robot. The researcher generally feels two types of constraints. One is various IDE. They spend lots of time finding the tool's location for different robot vendors with their IDE. Another one is, Sometimes the proprietary robot IDE is not too fit for robot researchers. They need some customizable IDE. But in the close source application is not possible to customization. Here we described a procedure so that our two constraints can be solved. We developed a smart robotic IDE that can operate various robots, introducing a hardware abstraction layer. This IDE can also be configured in every aspect. It is an open-source application. The robot researcher can easily customize it according to their need.</em> <strong>Design/Methodology/Approach</strong>: <em>We create a GUI application in C# inside the visual studio community edition 2022. The main UI thread is integrated with file handling, programming interface, and various robot object. Here we created a couple of objects. In this way, we can make any new robot object. The object is exposed on the GUI element. Selecting any robot, we can send the available command through the terminal or programming interface.</em> <strong>Findings/Result: </strong><em>Sometimes, robot researchers must break some impenetrable barrier for their research needs. But need lots of effort to develop some custom application to interact with robot or automated device. Through this research work, we provide helpful information so they can integrate their robot easily. Compared to other available open-source or closed-source applications, this application will take less time to debug and solve the issue at the earliest. </em> <strong>Originality/Value: </strong><em>The smart IDE makes research work better and faster. We need complete freedom to interact with robots or automated devices. The industry standard robots have their IDE to interact with their robot. Sometimes times more flexibility makes work easy. In this scenario, our approach can provide us with better flexibility to work. By following this procedure, the researcher can get some unique benefits for their research work. </em> <strong>Paper Type: </strong><em>Simulation-based Research.</em>
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Ding, Qian, Enzheng Zhang, Zhiguo Liu, Xinhai Yao, and Gaofeng Pan. "Text-Guided Object Detection Accuracy Enhancement Method Based on Improved YOLO-World." Electronics 14, no. 1 (2024): 133. https://doi.org/10.3390/electronics14010133.
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In intelligent human–robot interaction scenarios, rapidly and accurately searching and recognizing specific targets is essential for enhancing robot operation and navigation capabilities, as well as achieving effective human–robot collaboration. This paper proposes an improved YOLO-World method with an integrated attention mechanism for text-guided object detection, aiming to boost visual detection accuracy. The method incorporates SPD-Conv modules into the YOLOV8 backbone to enhance low-resolution image processing and feature representation for small and medium-sized targets. Additionally, EMA is introduced to improve the visual feature representation guided by the text, and spatial attention focuses the model on image areas related to the text, enhancing its perception of specific target regions described in the text. The improved YOLO-World method with attention mechanism is detailed in the paper. Comparative experiments with four advanced object detection algorithms on COCO and a custom dataset show that the proposed method not only significantly improves object detection accuracy but also exhibits good generalization capabilities in varying scenes. This research offers a reference for high-precision object detection and provides technical solutions for applications requiring accurate object detection, such as human–robot interaction and artificial intelligence robots.
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Sanfilippo, Filippo, Erlend Helgerud, Per Stadheim, and Sondre Aronsen. "Serpens: A Highly Compliant Low-Cost ROS-Based Snake Robot with Series Elastic Actuators, Stereoscopic Vision and a Screw-Less Assembly Mechanism." Applied Sciences 9, no. 3 (2019): 396. http://dx.doi.org/10.3390/app9030396.
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Snake robot locomotion in a cluttered environment where the snake robot utilises a sensory-perceptual system to perceive the surrounding operational environment for means of propulsion is defined as perception-driven obstacle-aided locomotion (POAL). From a control point of view, achieving POAL with traditional rigidly-actuated robots is challenging because of the complex interaction between the snake robot and the immediate environment. To simplify the control complexity, compliant motion and fine torque control on each joint is essential. Accordingly, intrinsically elastic joints have become progressively prominent over the last years for a variety robotic applications. Commonly, elastic joints are considered to outperform rigid actuation in terms of peak dynamics, robustness, and energy efficiency. Even though a few examples of elastic snake robots exist, they are generally expensive to manufacture and tailored to custom-made hardware/software components that are not openly available off-the-shelf. In this work, Serpens, a newly-designed low-cost, open-source and highly-compliant multi-purpose modular snake robot with series elastic actuator (SEA) is presented. Serpens features precision torque control and stereoscopic vision. Only low-cost commercial-off-the-shelf (COTS) components are adopted. The robot modules can be 3D-printed by using Fused Deposition Modelling (FDM) manufacturing technology, thus making the rapid-prototyping process very economical and fast. A screw-less assembly mechanism allows for connecting the modules and reconfigure the robot in a very reliable and robust manner. The concept of modularity is also applied to the system architecture on both the software and hardware sides. Each module is independent, being controlled by a self-reliant controller board. The software architecture is based on the Robot Operating System (ROS). This paper describes the design of Serpens and presents preliminary simulation and experimental results, which illustrate its performance.
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Pérez-Ubeda, Rodrigo, Ranko Zotovic-Stanisic, and Santiago C. Gutiérrez. "Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement." Applied Sciences 10, no. 12 (2020): 4329. http://dx.doi.org/10.3390/app10124329.
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Due to the elasticity of their joints, collaborative robots are seldom used in applications with force control. Besides, the industrial robot controllers are closed and do not allow the user to access the motor torques and other parameters, hindering the possibility of carrying out a customized control. A good alternative to achieve a custom force control is sending the output of the force regulator to the robot controller through motion commands (inner/outer loop control). There are different types of motion commands (e.g., position or velocity). They may be implemented in different ways (Jacobian inverse vs. Jacobian transpose), but this information is usually not available for the user. This article is dedicated to the analysis of the effect of different inner loops and their combination with several external controllers. Two of the most determinant factors found are the type of the inner loop and the stiffness matrix. The theoretical deductions have been experimentally verified on a collaborative robot UR3, allowing us to choose the best behaviour in a polishing operation according to pre-established criteria.
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Monsalve, German, Alben Cardenas, Diego Acevedo-Bueno, and Wilmar Martinez. "Assessing the Limits of Equivalent Circuit Models and Kalman Filters for Estimating the State of Charge: Case of Agricultural Robots." Energies 16, no. 7 (2023): 3133. http://dx.doi.org/10.3390/en16073133.
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The battery State of Charge (SoC) is critical information to overcome agricultural robots’ limitations related to battery and energy management. Although several SoC estimation methods have been proposed in the literature, the performance of these methods has not been validated for different battery chemistries in agricultural mobile robot applications. Compared to previous work, this paper evaluates the limits of the SoC estimation using the RC model and the Thevenin model for a Lithium Iron Phosphate (LFP) battery and a Sealed Lead Acid (SLA) battery. This evaluation used a custom agricultural robot in a controlled indoor environment. Consequently, this work assessed the limitations of two ECM-based SoC estimation methods using battery packs, low-cost sensors and discharge cycles typically used in agricultural robot applications. Finally, the results indicate that the RC model is not suitable for SoC estimation for LFP battery; however, it achieved a mean absolute error (MAE) of 2.2% for the SLA battery. On the other hand, the Thevenin model performed properly for both chemistries, achieving MAE lower than 1%.
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Chera, Ionuţ Moise, and Octavian Bologa. "Experimental Researches Regarding the Distribution of the Deformations on Incremental Formed Parts." ACTA Universitatis Cibiniensis 65, no. 1 (2014): 13–19. http://dx.doi.org/10.1515/aucts-2015-0003.
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Abstract The goal of this research is to present results regarding the variation of the deformations on the surface of the incremental formed parts. The experiments were performed on a custom layout by means of a KUKA industrial robot and the measurement of the sheet metal deformations was done using ARAMIS optical measurement system. The custom layout allows for the measurement of the deformations to take place during the actual forming process
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Chera, Ionut, Octavian Bologa, Sever Gabriel Racz, and Radu Eugen Breaz. "Robot-Forming - An Incremental Forming Process Using an Industrial Robot by Means of DELMIA Software Package." Applied Mechanics and Materials 371 (August 2013): 416–20. http://dx.doi.org/10.4028/www.scientific.net/amm.371.416.
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The purpose of this research is to present an alternative method for manufacturing sheet metal parts using an asymmetric incremental forming process by means of an industrial robot. This method is based on designing, simulating and generating the toolpath for the tool attached to the robot using DELMIA software package. The proposed approach allows users to check for system collisions, robot joins limitations and singularity problems. After a comprehensive simulation of the movements of the robot is performed, the program code can be generated by means of a specific DELMIA function. The program can be used afterwards to control the robot during the experimental work. In order to demonstrate the capabilities of robot-forming, a truncated pyramid sheet metal part was manufactured using a custom made stand and with the help of a KUKA KR6 anthropomorphic robot.
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Sardenberg, Victor, Andrea Kondziela, Antonin Brünner, Youssef Daadoush, Hendrik Wiese, and Mirco Becker. "The migrating walls." SPOOL 11, no. 1 (2024): 23–48. http://dx.doi.org/10.47982/spool.2024.1.02.
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This paper presents a comparison of different workflows for mobile robotic fabrication using modular building blocks. Different localization, locomotion, and interlocking building systems strategies are tested and compared. The work is influenced by related research into ecosystems of building parts, design software, and builder robots to digitize the construction work. For localization, it compares LIDARs, reacTIVision, and ArUco markers. As a mobile platform, a MIR100 robot platform, a 3.3 m linear axis, and a manual trolly are used. Interlocking components such as wood slates, custom-made bricks, and interlocking wood building blocks are used. The research is in the field of collective robotic construction (CRC) using bespoke robots designed in tandem with specific discrete building blocks.
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Yang, Guilin, I.-Ming Chen, Wee Kiat Lee, and Song Huat Yeo. "Self-calibration of three-legged modular reconfigurable parallel robots based on leg-end distance errors." Robotica 19, no. 2 (2001): 187–98. http://dx.doi.org/10.1017/s0263574700002927.
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A class of three-legged modular reconfigurable parallel robots is designed and constructed for precision assembly and light machining tasks by using standard active and passive joint modules in conjunction with custom designed links and mobile platforms. Since kinematic errors, especially the assembly errors, are likely to be introduced, kinematic calibration becomes particularly important to enhance the positioning accuracy of a modular reconfigurable robot. Based on the local frame representation of the Product-Of-Exponentials (Local POE) formula, a self-calibration method is proposed for these three-legged modular reconfigurable parallel robots. In this method, both revolute and prismatic joint axes can be uniformly expressed in twist coordinates by their respective local (body) frames. Since these local frames can be arbitrarily defined on their corresponding links, we are able to calibrate them, and yet retain the nominal local description of their respective joints, i.e., the nominal twist coordinates and nominal joint displacements, to reflect the actual kinematics of the robot. The kinematic calibration thus becomes a procedure of fine-tuning the locations and orientations of the local frames. Using mathematical tools from differential geometry and group theory, an explicit linear calibration model is formulated based on the leg-end distance errors. An iterative least-square algorithm is employed to identify the error parameters. A simulation example of calibrating a three-legged (RRRS) modular parallel robot shows that the robot kinematics can be fully calibrated within two to three iterations.