Robotics and Autonomous Systems

Wearable lower limb exoskeleton robots (WLLER) have broad development prospects in the military, industrial and medical fields. The intelligent device comes into intimate contact with the human body, and its safety is an essential ...

Robots are becoming standard collaborators not only in factories, hospitals, and offices, but also in people’s homes, where they can play an important role in situations where a human cannot complete a task alone or needs the help of ...

A novel parameter identification method is proposed, which identifies all the parameters required for the reconstruction of free-flying space manipulator system dynamics. Its key advantage is that it does not use acceleration ...

• A new identification method to estimate all inertial parameters for the complete reconstruction of free-flying dynamics.

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate ...

Confined and subterranean areas are common in many civilian and industrial sites, although they are hazardous for humans given the presence of noxious gases, extreme temperatures, narrow spaces, unhealthy oxygen levels, flooding, and ...

• A survey in autonomous exploration for subterranean and confined spaces using mobile robots.

Imitation learning approaches achieve good generalization within the range of the training data, but tend to generate unpredictable motions when querying outside this range. We present a novel approach to imitation learning with ...

Soft gripper design is a rising area of research due of its great possibilities in automation. One difficult problem in robot design is the ability to grasp a broader variety of items with variable stiffness, forms, and sizes in a ...

• ABBIRB 1410 robot gripper enhance the work cycle in industrial applications and performs object grabbing with dependability and speed.

The robot behavior strategy is considered as a crucial part in the human-following task to help the robot maintain an appropriate distance and orientation to the selected target person (STP) with a smooth and safe manner. As usual, the ...

• First contribution: a new concept for human-following robots in mixed environments (mapped and non-mapped).

Multiple rigidly attached Inertial Measurement Unit (IMU) sensors provide a richer flow of data compared to a single IMU. State-of-the-art methods follow a probabilistic model of IMU measurements based on the random nature of errors ...

• Navigation utilizing inertial data from multiple IMUs.
• Multiple IMU data fusion ...

The development of lower limb exoskeletons has seen significant interest in recent times. Two types of them are more used that cover two types of needs: gait rehabilitation and human locomotion assistance. An essential subject in ...

• An online gait cycle generator for different walking modes is provided which combines three trajectory generators as follows.

Tubular objects such as test tubes are common in chemistry and life sciences research laboratories, and robots that can handle them have the potential to accelerate experiments. Moreover, it is expected to train a robot to manipulate ...

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• A novel tactile-motor policy framework is proposed for learning robotic skills of tubular object manipulation that are generalizable toward Sim2Real transfer ...

A Range Only Simultaneous Localization and Mapping (RO-SLAM) problem is considered in this paper. The robot is a unicycle like vehicle equipped with encoders on the actuated wheels, which measures the distance to a set of UWB landmarks ...

• Range-Only SLAM problem for a unicycle robot using Ultra Wide Band (UWB) antennas.

A novel approach for robust Unmanned Aerial Vehicle (UAV) altitude estimation relying on laser measurements that is designed for use in complex indoor environments is proposed in this paper. Specifically, we aim to design a system with ...

• A robust UAV altitude estimation method for complex indoor environments.
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Programming robotic systems is often a challenging task requiring advanced skills, especially when the goal is to ensure loosely-coupled coordination in heterogeneous Multi-Robot Systems (MRSs). Model-driven approaches for robotic ...

• We provide a framework for the model-driven development of multi-robot systems.

To ensure the safety of autonomous Multi-rotor UAVs flying in urban airspace, they should be capable of avoiding collisions with unpredictable dynamic obstacles, such as birds. UAVs must consider both relative position and relative ...

• The ability to avoid dynamic obstacles is essential for future UAV operations.
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How to reproduce and generalize the skills acquired by demonstrating is a hot topic for researchers. (1) A compliant continuous drag demonstration system based on discrete admittance model was designed to continuously and smoothly drag ...

• The demonstration framework based on discrete admittance model is proposed to solve the problem that some industrial robots are difficult to continuously and ...

Software architectures for autonomous systems are generally structured with 3 layers: a decisional layer managing autonomous reasoning, a functional layer managing reactive tasks and processing, and an executive layer bridging the gap ...

• A new version of the skillset description language is presented, and the execution semantics of skillsets is detailed.