Robotics and Autonomous Systems

Most gait rehabilitation exoskeletons focus only on assisting lower limb motions. However, the pelvis plays an essential role in overground ambulation. This calls for the need of gait training devices that allow full control and assistance of ...

• This paper presents PeXo, a novel treadmill-based pelvic assistance exoskeleton for gait rehabilitation
• PeXo has 5 active and 1 passive DOF at the pelvis, plus haptic self-paced walking speed control.
• PeXo was evaluated on a stroke ...

Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc. In ...

• Systematic literature review on rolling spherical robot.
• Focus on locomotion mechanisms and control strategies.
• Conclusions and trends based on quantitative data.

• The strain energy constraint is introduced to improve the traditional XPBD method.
• It streamlines the creation of models and boosts the efficiency of the reduced order matric construction.
• It can simulate soft robots with different ...

Simulating a soft robot model is challenging because of large deformations and lots of degrees of freedom. In this study, a novel fast simulation framework for soft robots is created using reduced order extended position-based dynamics technique. ...

Path planning is an important primitive in robotics. In this paper, a new Informed Sampling Space (ISS) driven Informative Path Planning (IPP) approach is developed to facilitate autonomous robots to navigate and explore unknown and hazardous ...

• Adaptive cost function incorporates the influence of prior information states.
• Multivariate normal probability density function is used to disseminate information.
• IPP framework is developed using information map and a sampling-...

• A constrained path planning algorithm for Ackerman mobile robot is proposed.
• An improved ant colony algorithm with angle constraint is introduced.
• An improved B-spline curve smoothing method with curvature constraint is proposed to ...

In this paper, a new approach is proposed for the smooth path planning of Ackermann mobile robots based on an improved ant colony algorithm and B-spline curves. Firstly, by incorporating path length constraints and path smoothing constraints into ...

This paper proposes rigid-body modelling and identification procedures for long-reach dual-arm manipulators in a cable-suspended pendulum configuration. The proposed model relies on a virtually constrained open kinematic chain and lends itself to ...

• Cable-suspended long-reach manipulators perform hazardous inspection and maintenance.
• Accurate simulation and control development for cable-suspended robots is crucial.
• Simplified dynamic model can be readily integratable into ...

• The smart microswimmers learn and find the optimal propulsion strategy without previous knowledge and without the need to try all propulsion cycles.
• Q-Learning along with the Basic Coding is utilized to train microrobots.
• Basic ...

The development of artificial microscopic robots, like synthetic microswimmers, is one of the state-of-the-art research topics due to their promising biomedical applications. The movement of microswimmers is affected by stringent constraints ...

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This paper presents the virtual design of a four-arm Delta parallel robot for potential applications in the food industry, specifically for the automated preparation of fast foods. Kinematic and dynamic models were developed based on the ...

• Virtual design of a four-arm Delta parallel robot for potential applications in the food industry.
• Kinematic and dynamic models ware developed based on the morphology of this type of robot.
• Realistic aspects that are often ...

In this paper, we present the service robot MARLIN and its integration with the K4R platform K4R - Knowledge4Retail () , a cloud system for complex AI applications in retail. At its core, this platform contains so-...

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• A digital twin (DT) that stores information about the store and allows semantic queries.
• A service robot that exchanges information with the DT to increase its capabilities.
• Evaluation of the robot’s capabilities and its ...

• Compact UAV leveraging Coandă effect for exceptional maneuverability.
• Exploring theoretical study, mechatronic design, and manufacturing complexities of Coandă UAV.
• First application of Fuzzy Logic Controller to Coandă-effect UAV, ...

Recent years have experienced a notable surge in unmanned aerial vehicles (UAV) research, prompting exploration into innovative concepts. This paper introduces a compact UAV harnessing the Coandă effect, an underexplored phenomenon in fluid ...

3D object detection is a key element for the perception of autonomous vehicles. LiDAR sensors are commonly used to perceive the surrounding area, producing a sparse representation of the scene in the form of a point cloud. The current trend is to ...

• Feature Aware Re-weighting (FAR) in BEV for LiDAR-based 3D object detection in autonomous driving applications.
• Extracted local context in BEV via attention, is essential for an improved performance.
• Modularity of FAR Network ...

The present paper aims at introducing a mathematical model of a spherical robot expressed in the language of Lie-group theory. Since the main component of motion is rotational, the space SO ( 3 ) 3 of three-dimensional rotations plays a prominent ...

• Spherical robots find applications in environments that conventional robots hardly cope with.
• Their modeling is difficult due to their multi-body structure in the presence of non-holonomic constraint.
• A mathematical model is ...

3D human pose estimation from a single image is still a challenging problem despite the large amount of work that has been performed in this field. Generally, most methods directly use neural networks and ignore certain constraints (e . g ., ...

• We propose a synchronized adversarial training framework for 3D pose estimation.
• A reprojection network learns the 3D-2D distribution instead of 3D-2D correspondence.
• Synchronized training provides more reliable weakly supervised ...

Trajectory planning is a crucial aspect of macro-micro robotic systems (MMRSs), especially when the system has high degrees of freedom (DOFs). In the field of robotic polishing, the MMRS is usually composed of an industrial robot and an end-...

• An optimal control framework for trajectory optimization of a 9-DOF robot is proposed.
• Gauss pseudospectral method is used to discretize the optimal control problem.
• The effects of workpiece placement pose and task redundancy are ...

This research addresses the challenge of large/complex deformation in the shape control tasks of Deformable Linear Objects (DLO). We propose a collaborative approach using two manipulators to achieve shape control of a DLO in 2D workspace. The ...

• Address the problem of complex deformation of DLO and propose a new approach to handle it.
• Evaluate the proposed approach in both simulation and real-life experiments.
• In-depth analysis and comparison of cutting-edge DLO shape ...

• A GNSS-LiDAR-inertial odometry and mapping system is developed with high efficiency and stability at the same time.
• A coarse-to-fine state estimation framework based on iterated error-state Kalman filter is provided for multi-sensor ...

Simultaneous localization and mapping (SLAM) aims to solve the problems of robot localization and mapping in unknown environments. Recent related research usually uses closed-loop correction or integrate GNSS (Global Navigation Satellite System) ...

Recent advancements in sensors and deep learning techniques have improved reliability of robotic perceptual systems, but current systems are not robust enough for real-world challenges such as occlusions and sensing uncertainties in cluttered ...

• A manipulation planning method to move a connector attached to a cable to a desired position is proposed.
• As a strategy for efficient use of the method, how to generate training data using a physical simulation and train neural ...

In this paper, we propose a manipulation planning method for cable wiring in the assembly of electric appliances etc. We address a scenario where a robot grasps a connector attached to the end of a cable and has to bring the connector to a ...

Research in autonomous systems is gaining popularity both in academia and industry. These systems offer comfort, new business opportunities such as self-driving taxis, more efficient resource utilization through car-sharing, and most importantly, ...

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• We demonstrate that our collaborative perception method achieves the best results.
• Our late fusion model performs well in highly heterogeneous environments.
• This approach also reduces bandwidth compared to intermediate fusion ...