Frequency: Quarterly E- ISSN: 2230-8199 P- ISSN: 2249-1325 Abstracted/ Indexed in: Ulrich's International Periodical Directory, Google Scholar, SCIRUS, Genamics JournalSeek, JOURNAL directory, EBSCO Information Services
Quarterly published in print and online "Inventi Impact: Robotics" publishes high quality unpublished as well as high impact pre-published research and reviews catering to the needs of researchers and professionals. The journal covers all recent advances in the growing fields of robotics. The focus areas are autonomous behaviours, multi-sensor fusion, learning algorithms, system modelling, control software, smart actuators, and human-machine interaction. Special emphasis is given to technology innovation with real-world applications.
A concept that allows the cognitive automation of robotic assembly processes is introduced. An assembly cell comprised of two\r\nrobots was designed to verify the concept. For the purpose of validation a customer-defined part group consisting of Hubelino\r\nbricks is assembled. One of the key aspects for this process is the verification of the assembly group. Hence a software component\r\nwas designed that utilizes the Microsoft Kinect to perceive both depth and color data in the assembly area. This information is\r\nused to determine the current state of the assembly group and is compared to a CAD model for validation purposes. In order to\r\nefficiently resolve erroneous situations, the results are interactively accessible to a human expert. The implications for an industrial\r\napplication are demonstrated by transferring the developed concepts to an assembly scenario for switch-cabinet systems....
Two different visual servoing controls have been developed to govern a translating parallel manipulator with an eye-in-hand\r\nconfiguration, That is, a position-based and an image-based controller. The robot must be able to reach and grasp a target\r\nrandomly positioned in the workspace; the control must be adaptive to compensate motions of the target in the 3D space. The\r\ntrajectory planning strategy ensures the continuity of the velocity vector for both PBVS and IBVS controls, whereas a replanning\r\nevent is needed. A comparison between the two approaches is given in terms of accuracy, fastness, and stability in relation to the\r\nrobot peculiar characteristics....
The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER\r\nbioinspired robotic arm.The two controllers are both constituted by an internal proportional-derivative (PD) closed-loop for the\r\nposition control.The force control of the two systems is composed of an external proportional (P) closed-loop for one system (P\r\nsystem) and an external proportional-integrative (PI) closed-loop for the other system (PI system). The simulation tests performed\r\nwith the two systems on a planar representation of theDEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness\r\nof the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with\r\ngreat precision the desired position.Thetwo controllers do not have large differences in performance when interacting with a lower\r\nstiffness environment. In case of an environment with greater rigidity, the PI system is more stable.Thesubsequent implementation\r\nof these control systems on theDEXTER robotic bioinspired armgives guidance on the design and control optimisation of the arms\r\nof the humanoid robot named SABIAN....
The goal of this overview paper is to serve as a reference for researchers that are interested in the realistic modeling of wireless\r\nchannels for the purpose of analysis and optimization of networked robotic systems. By utilizing the knowledge available in\r\nthe wireless communication literature, we first summarize a probabilistic framework for the characterization of the underlying\r\nmultiscale dynamics of a wireless link. We furthermore confirm this framework with our robotic testbed, by making an extensive\r\nnumber of channel measurements. To show the usefulness of this framework for networked robotic applications, we then\r\ndiscuss a few recent examples where this probabilistic channel characterization has been utilized for the theoretical analysis\r\nand communication-aware design of networked robotic systems. Finally, we show how to develop a realistic yet simple channel\r\nsimulator, which can be used to verify cooperative robotic operations in the presence of realistic communication links....
Robot-assisted intervention has been successfully applied to the education and training of children with autism spectrum disorders.\nHowever, it is necessary to increase the autonomy of the robot to reduce the burden on the human therapists. This paper focuses on\nproposing a robotic architecture to improve the autonomy of the robot in the course of the interaction between the robot and the\nchild with autism. Following the model of perception-cognition-action, the architecture also incorporates some of the concepts of\ntraditional autism intervention approach and the human cognitive model. The details of the robotic architecture are described in\nthis paper, and in the end, a typical scenario is used to verify the proposed method....
A life-support service robotmust avoid both static and dynamic obstacles for working in a real environment. Here, a static obstacle\nmeans an obstacle that does not move, and a dynamic obstacle is the one that moves. Assuming the robot is following a target\nperson, we discuss how the robot avoids a crowd through which the target person passes and arrives at the target position. The\npurpose of this paper is to propose a crowd avoidance method that makes a robot to be able to avoid both static and dynamic\nobstacles. The method uses the surface points of the obstacles to form an avoidance region, and the robot moves along the edge of\nthe region. We conducted experiments assuming various situations such that the robot was blocked, there was a wide gap in the\ncrowd, or a person in the crowd yielded for the robot to pass through. As an experimental result, it was confirmed the robot could\navoid the crowd even when the obstacles were aligned in an ââ?¬Å?inverted wedgeââ?¬Â shape.\n1. Introduction\nMany research works have been conducted for developing\nlife-support service robots [1]. Here, the robots we are\nfocusing on include autonomous mobile robots that conduct\ntasks such as bringing a beverage to the user based on the\nuserââ?¬â?¢s request [2, 3]. A life-support service robot differs from\nindustrial robots because the life-support service robotsmust\nwork under an environment where humans and the robots\ncoexist. For this purpose, a life-support service robot must\nhave several abilities such asmanipulation [4, 5], vision [6, 7],\nand mobility [8, 9]. We especially focus on the mobility in\nthis paper.The two technologies, the path planning, and the\npath following are important for realizing the autonomous\nnavigation of the robot.Many research works have been done\nfor those issues so far [10ââ?¬â??17]. The path planning and the following\nbehavior are either based on the prepared map of the\nenvironment or based on the on-the-fly measurement of the\nenvironment.We focus on the latter case so that the robot can\nmove around the new and dynamic environment where the\nobstacles (mainly humans) move. Our interest in this paper\nis the robot navigation based...
Delivery robots face the problem of storage and computational stress when performing immediate tasks, exceeding the limits of on-board computing power. Based on cloud computing, robots can offload intensive tasks to the cloud and acquire massive data resources. With its distributed cluster architecture, the platform can help offload computing and improve the computing power of the control center, which can be considered the external “brain” of the robot. Although it expands the capabilities of the robot, cloud service deployment remains complex because most current cloud robot applications are based on monolithic architectures. Some scholars have proposed developing robot applications through the microservice development paradigm, but there is currently no unified microservice-based robot cloud platform..............
This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit\nforce-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle\nthe force error. Also, an active velocity damping term with the purpose of obtaining energy dissipation on the contact surface is\nincorporated plus compensation for gravity. In order to ensure asymptotic stability of the closed-loop system equilibrium point in\nCartesian space, we propose a strict Lyapunov function. A force sensor placed at the end-effector of the robotmanipulator is used in\norder to feed back themeasure of the force error in the closed-loop, and an experimental comparison of the performanceL2-norm\nbetween 5 explicit force control schemes, which are the classical proportional-derivative (PD), arctangent, and square-root controls\nand twomembers of the proposed control family, on a two-degree-of-freedom, direct-drive robot manipulator, is presented....
The paper presents a framework that can be used to design and optimize a balancing mechanism for an industrial robot. The\nframework has the capability to optimize three different concepts: a mechanical, a pneumatic, and a hydropneumatic. Several\ndisciplines are included in the framework, such as dynamic and static analyses of the robot performance.Optimization is performed\nfor each concept and the obtained optimal designs are all better than the reference design. This means that the framework can be\nused as a tool both to optimize the balancing mechanism and also to support concept selection....
To better solve the problems associated with optimal pathfinding and dynamic obstacle avoidance in the path planning of mobile robots, a hybrid path planning scheme combining modified gray wolf optimization (MGWO) and situation assessment mechanism is proposed. Firstly, a MGWO algorithm is proposed to plan a global path. Secondly, different situational factors for robots in different regions are extracted from the fusion results of 2D laser measurements and image data, and a Bayesian network model of robot action selection is established. Then, the situational factors of the robot are used as evidence for reasoning. Based on the posterior probability value in the inference result, the grid to be moved is selected and the traveling direction of the robot is adjusted in order to take advantage of both global path planning and local dynamic obstacle avoidance. The simulation results show that the proposedMGWOhas better optimization performance. When combined with a situation assessment mechanism, it realizes dynamic obstacle avoidance while keeping the path length as short as possible....
Loading....