Accurate calibration of micro-electromechanical systems (MEMS) accelerometers is crucial for enhancing the performance of low-cost inertial measurement units (IMUs). This paper introduces a novel calibration technique that leverages artificial neural networks (ANNs) combined with data from multiple IMUs to increase the accuracy of the calibration. The proposed method involves a...
In this paper, we proposed a concept of supporting human reaching motion using a branching robot arm system. The proposed robot system comprises a long-reach arm robot with a small arm attached. We primarily focus on the mechanism and control method of the small arm. The small arm incorporates proximity and force sensors and can follow a person’s arm in real time or continue to...
Unlike rigid mechanisms, compliant mechanisms offer frictionless motion with enhanced precision in compact designs by deriving their motion from the deflection of flexible elements. The Tetra joint, a class of compliant spherical joints, has garnered significant attention in recent years. However, its unique design-featuring a trapezoidal cross-section and trapezoidal blade...
Marine seismic surveys rely on the precise localization of seismic airguns to ensure high-quality data acquisition. The current state-of-the-art systems for airgun localization, such as Ultra-Short Baseline (USBL), Long Baseline (LBL), and GPS-aided and hybrid systems, provide reliable positioning but are often costly, operationally complex or limited to surface tracking. To...
The possibility of a robot failing to perform its task can be influenced by factors related to its movement and the load it carries. This concern is particularly important in mobile robots where these factors are more noticeable. Many researchers have conducted studies to quantify the loss of stability in different types of robots. However, these studies often require expensive...
This paper presents an experimental evaluation of the stability and performance of commercial quadrupedal robots, specifically the Ghost Robotics Vision 60 and Boston Dynamics Spot, under dynamic ground conditions typical of non-inertial naval environments. Our study systematically assesses these robots in controlled laboratory settings and real-world scenarios aboard the M80...
Simultaneous Localization and Mapping (SLAM) and Visual SLAM are crucial technologies in robotics, allowing autonomous systems to navigate and comprehend their environment. Deep learning (DL) has become a powerful tool in driving progress in these areas, providing solutions that improve accuracy, efficiency, and resilience. This article thoroughly analyzes different deep learning...
Lower-limb exoskeletons (LLEs) have shown potential in improving motor function in patients for both clinical rehabilitation and daily life. Despite this, the development and control of pediatric exoskeletons remain notably underserved. This study focuses on a unique pediatric robotic lower limb exoskeleton (PRLLE), tailored particularly for children aged 8–12. Each leg of the...
The evaluation of planners is essential to guarantee the efficiency and performance of trajectories executed by collaborative robots in human–robot interaction (HRI) contexts. The main objective of this research is to develop a method that allows obtaining an automated assessment of the performance of planners widely used in robotic environments. In addition to analyzing specific...
In robotics, the current state of object recognition in haptic sensory mode falls significantly short of the results obtained in visual mode. One of the main reasons for this is the lack of haptic data sets for training recognition models. A major impediment is the time-consuming and difficult task for a real robot to capture large amounts of haptic information. This paper...
This paper presents a proposed design of soft gripper fingers with adjustable stiffness that could be employed in the applications requiring adaptable and stable grasping. The main idea is to combine the under-actuated cable driven mechanism of a soft gripper finger with particle and layer jamming mechanisms to create a new grasping function with variable stiffness for different...
This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of a previously developed adaptive remote center of motion (RCM) using admittance control. This framework operates within a redundancy resolution method specifically designed for the RCM constraint. We...
Simultaneous Localization and Mapping (SLAM) is a major challenge that has been comprehensively investigated by scholars. SLAM’s ability to support autonomous navigation helps the robot to move from one place to another without being controlled by humans. This achievement has attracted the attention of scholars towards focusing on this area. Over the decades, countless procedures...
The robot operating system (ROS) is a well-established and popular open-source robotics middleware used for rapid prototyping of robotic applications. However, ROS has several known weaknesses, such as lack of support for real-time systems and limitations in fully distributed deployments with multiple robots. To address these weaknesses, ROS underwent a major update and the first...
The role of autonomous vehicles (AVs) in assisting people is recognised and, therefore, is in constant development in numerous fields. Specifically, the ability of an autonomous vehicle (AV) to alleviate global stressors, such as the increased potential for food shortages and the decline in available workers for labor-intensive tasks. An area where the development of AVs are...
Navigation of agricultural mobile platforms in small-scale orchards poses challenges due to narrow row-end turning spaces and the need for precise path tracking in the presence of disturbances. The objective of this study is to improve path following and rapid turning maneuvers for a double-Ackermann steering robot by employing a simulation approach for PID-based waypoint...
With the increasing adoption of mobile robots for transporting components across several locations in industries, congestion problems appear if the movement of these robots is not correctly planned. This paper introduces a fleet management system where a central agent coordinates, plans, and supervises the fleet, mitigating the risk of deadlocks and addressing issues related to...
Artificial Intelligence is revolutionizing industries by enhancing efficiency through real-time Object Detection (OD) applications. Utilizing advanced computer vision techniques, OD systems automate processes, analyze complex visual data, and facilitate data-driven decisions, thus increasing productivity. Domain Adaptation for OD has recently gained prominence for its ability to...
Existing lidar-based semantic segmentation algorithms and datasets focus on autonomous vehicles operating in urban environments. This has greatly improved the safety and reliability of these autonomous vehicles in predictable scenery. A new dataset provides lidar data focusing on off-road environments as seen by autonomous ground vehicles, ushering in a new era of off-road...
The drive system of robots and robot-like systems (RLS) is often designed with a combination of an e-motor and a gearbox with a high transmission ratio to optimize performance. The various types of possible robot gearboxes can be selected based on their characteristics, which strongly influence the performance of the entire robotic system. Planetary gear drives have advantages...
This paper focuses on the implementation of the Extended Kalman Filter for indoor localization of a semi-autonomous Ambulance Robot system named Ambubot. The system is designed to reduce the response time for lay rescuers to locate an Automated External Defibrillator (AED) during sudden cardiac arrest events. To achieve this objective, the robot is equipped with an AED, and the...