Robotics and Biomimetics

http://link.springer.com/journal/40638

List of Papers (Total 70)

A review on robotic fish enabled by ionic polymer–metal composite artificial muscles

A novel actuating material, which is lightweight, soft, and capable of generating large flapping motion under electrical stimuli, is highly desirable to build energy-efficient and maneuverable bio-inspired underwater robots. Ionic polymer–metal composites are important category of electroactive polymers, since they can generate large bending motions under low actuation voltages. ...

Characterizing dynamic behaviors of three-particle paramagnetic microswimmer near a solid surface

Particle-based magnetically actuated microswimmers have the potential to act as microrobotic tools for biomedical applications. In this paper, we report the dynamic behaviors of a three-particle paramagnetic microswimmer. Actuated by a rotating magnetic field with different frequencies, the microswimmer exhibits simple rotation and propulsion. When the input frequency is below 8 ...

Improved 3D measurement with a novel preprocessing method in DFP

Shadow and background are two common factors in digital fringe projection, which lead to ambiguity in three-dimensional measurement and thereby need to be seriously considered. Preprocessing is often needed to segment the object from invalid points. The existing segmentation approaches based on modulation normally perform well in pure dark background circumstances, which, however, ...

Ethical framework of assistive devices: review and reflection

The population of ageing is growing significantly over the world, and there is an emerging demand for better healthcare services and more care centres. Innovations of Information and Communication Technology has resulted in development of various types of assistive robots to fulfil elderly’s needs and independency, whilst carrying out daily routine tasks. This makes it vital to ...

Robot-aided electrospinning toward intelligent biomedical engineering

The rapid development of robotics offers new opportunities for the traditional biofabrication in higher accuracy and controllability, which provides great potentials for the intelligent biomedical engineering. This paper reviews the state of the art of robotics in a widely used biomaterial fabrication process, i.e., electrospinning, including its working principle, main ...

Dynamics and control of separable coupled rigid body systems

This paper explores the dynamics of separable coupled rigid body systems, a special class of constrained rigid body systems. These are defined as two systems that interact with each other by forces of contact, resulting in a reduction in dimensionality and complexity. The mechanics and consequences of this reduction are investigated here. The basic hypothesis and an example of the ...

Aerial pruning mechanism, initial real environment test

In this research, a pruning mechanism for aerial pruning tasks is tested in a real environment. Since the final goal of the aerial pruning robot will be to prune tree branches close to power lines, some experiments related to wireless communication and pruning performance were conducted. The experiments consisted of testing the communication between two XBee RF modules for ...

Grasping state estimation of printable soft gripper using electro-conductive yarn

Automatic handling of many types of food materials are required to realize the automation of production of commercially prepared box lunches. A printable soft gripper was developed for food handling which is simple to produce with a 3D printer. However, the sensing ability of the printable soft gripper was not discussed in previous research. In this paper, a novel method for ...

A new multiple robot path planning algorithm: dynamic distributed particle swarm optimization

Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic distributed particle swarm optimization (D2PSO) algorithm is proposed for trajectory path planning of multiple robots in order to find collision-free optimal path for each ...

Comparison of different soft grippers for lunch box packaging

Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to perform such tasks. In this paper, we presented four pneumatic soft actuators made of different materials and different fabrication methods and compared their performances ...

A comparison study of adaptive scale estimation in correlation filter-based visual tracking methods

Recently, discriminative correlation filter-based method becomes one of the popular directions in the field of visual tracking because of its computational efficiency and excellent performance, which make it especially suitable for real-time application. Most of them are focused only on the transition estimation. However, accurate scale estimation of the target plays a very ...

Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots

Accurate control and precise positioning of opto-thermocapillary flow-addressed bubble microrobots are necessary for micromanipulation. In addition, micromanipulation using the simultaneous actuation of multiple microrobots requires a robust control system to enable independent motion. This paper demonstrates a hybrid closed-loop vision-assisted control system capable of actuating ...

Assessment of personal care and medical robots from older adults’ perspective

Demographic reports indicate that population of older adults is growing significantly over the world and in particular in developed nations. Consequently, there are a noticeable number of demands for certain services such as health-care systems and assistive medical robots and devices. In today’s world, different types of robots play substantial roles specifically in medical sector ...

A bio-inspired approach for the design of a multifunctional robotic end-effector customized for automated maintenance of a reconfigurable vibrating screen

The development of a robotic-driven maintenance solution capable of automatically maintaining reconfigurable vibrating screen (RVS) machine when utilized in dangerous and hazardous underground mining environment has called for the design of a multifunctional robotic end-effector capable of carrying out all the maintenance tasks on the RVS machine. In view of this, the paper ...

Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines

This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacterial chemotaxis used in bacterial forging algorithm (BFA) and the spiral-dynamic algorithm (SDA). BFA provides a good exploration strategy due to the chemotaxis approach. ...

Object recognition combining vision and touch

This paper explores ways of combining vision and touch for the purpose of object recognition. In particular, it focuses on scenarios when there are few tactile training samples (as these are usually costly to obtain) and when vision is artificially impaired. Whilst machine vision is a widely studied field, and machine touch has received some attention recently, the fusion of both ...

Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism

This paper presents the performance of utilizing a bacterial foraging optimization algorithm on a PID control scheme for controlling a five DOF two-wheeled robotic machine with two-directional handling mechanism. The system under investigation provides solutions for industrial robotic applications that require a limited-space working environment. The system nonlinear mathematical ...

Mobile robots exploration through cnn-based reinforcement learning

Exploration in an unknown environment is an elemental application for mobile robots. In this paper, we outlined a reinforcement learning method aiming for solving the exploration problem in a corridor environment. The learning model took the depth image from an RGB-D sensor as the only input. The feature representation of the depth image was extracted through a pre-trained ...

A motion sensing-based framework for robotic manipulation

To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human–machine interaction in a novel and natural interface using gestures, has crucially inspired us to ...

micROS: a morphable, intelligent and collective robot operating system

Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the ...

A soft stretchable bending sensor and data glove applications

Soft sensors are required to accommodate the flexible and deformable natures of the human body in wearable device applications. They are also suitable for integration with soft robotic devices to monitor the performance status and provide references for feedback control. However, the choices for bending sensors are still highly limited. In this paper, a soft bending sensor is ...

Probabilistic double guarantee kidnapping detection in SLAM

For determining whether kidnapping has happened and which type of kidnapping it is while a robot performs autonomous tasks in an unknown environment, a double guarantee kidnapping detection (DGKD) method has been proposed. The good performance of DGKD in a relative small environment is shown. However, a limitation of DGKD is found in a large-scale environment by our recent work. In ...

Compliance control based on PSO algorithm to improve the feeling during physical human–robot interaction

Robots play more important roles in daily life and bring us a lot of convenience. But when people work with robots, there remain some significant differences in human–human interactions and human–robot interaction. It is our goal to make robots look even more human-like. We design a controller which can sense the force acting on any point of a robot and ensure the robot can move ...

Integrated assembly and motion planning using regrasp graphs

This paper presents an integrated assembly and motion planning system to recursively find the assembly sequence and motions to assemble two objects with the help of a horizontal surface as the supporting fixture. The system is implemented in both assembly level and motion level. In the assembly level, the system checks all combinations of the assembly sequences and gets a set of ...

A two-wheeled machine with a handling mechanism in two different directions

Despite the fact that there are various configurations of self-balanced two-wheeled machines (TWMs), the workspace of such systems is restricted by their current configurations and designs. In this work, the dynamic analysis of a novel configuration of TWMs is introduced that enables handling a payload attached to the intermediate body (IB) in two mutually perpendicular directions. ...