Abstract Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature robots, as burgeoning field, have attracted significant research interest due their exceptional terrain adaptability safety features. Here, fully‐soft centimeter‐scale crawling robot directly powered by fluid kinetic energy generated an electrohydraulic actuator is introduced. Through optimization...

Hand gesture recognition has been applied to many research fields and shown its prominent advantages in increasing the practicality of Human-Robot Interaction (HRI). The development advanced techniques data science, such as big machine learning, facilitate accurate classification hand gestures using electromyography (EMG) signals. However, processing collection label large set imposes a high work burden results time-consuming implementations. Therefore, novel method is proposed combine...

Purpose In recent decades, the field of robotic mapping has witnessed widespread research and development in light detection ranging (LiDAR)-based simultaneous localization (SLAM) techniques. This paper aims to provide a significant reference for researchers engineers mapping. Design/methodology/approach focused on state LiDAR-based SLAM as well literature survey from perspective various LiDAR types configurations. Findings conducted comprehensive review system based three distinct forms The...

As the end-effector of a humanoid robot, dexterous hand plays crucial role in process robot execution. However, due to complicated and delicate structure human hand, it is difficult replicate functionality, balancing structural complexity, cost. To address problem, article introduces design development multi-finger synergistic adaptive with underactuation flexible articulated fingers integrated pressure sensors. The proposed achieves force feedback control, minimizes actuator use while...

Abstract This article presents a review of the platform configuration and dynamic obstacle-surmounting unmanned ground vehicles (UGVs). For now, systems have emerged as result rapid advancement artificial intelligence modern manufacturing techniques both domestically internationally. The research on has been improved lot. UGV can execute transportation, recurring, military tasks independently. high-level self-control, adaption, maneuverability abilities, applied in military, industry, other...

The versatile motion capability of snake robots offers themselves robust adaptability in varieties challenging environments where traditional may be incapacitated. This study reports a novel flexible robot featuring rigid–flexible coupling structure and multiple gaits. To better understand the robot's behavior, bending model for soft actuator is established. Furthermore, dynamic developed to map relationship between input air pressure joint torque, which base controlling effectively. Based...

In this paper, a bilateral teleoperation control of serial robot manipulator, which guarantees Remote Center Motion (RCM) constraint in its kinematic level, is developed. A two-layered approach based on the energy tank model proposed to achieve haptic feedback end effector with pedal switch. The redundancy manipulator exploited maintain RCM using decoupled Cartesian Admittance Control. Transparency and stability are demonstrated KUKA LWR4+ Sigma 7 an augmented reality. results prove that can...

Purpose Nowadays, the global agricultural system is highly dependent on widespread use of synthetic pesticides to control diseases, weeds and insects. The unmanned aerial vehicle (UAV) deployed as a major part integrated pest management in precision agriculture for accurately cost-effectively distributing resist crop diseases insect pests. Design/methodology/approach With multimodal sensor fusion applying adaptive cubature Kalman filter, position velocity are enhanced correction accuracy. A...

Home service robots operating indoors, such as inside houses and offices, require the real-time accurate identification location of target objects to perform tasks efficiently. However, images captured by visual sensors while in motion states usually contain varying degrees blurriness, presenting a significant challenge for object detection. In particular, daily life scenes small like fruits tableware, which are often occluded, further complicating recognition positioning. A dynamic...

All terrain vehicles (ATV) perform tasks in unstructured environments where the advanced adaptive ability of rigid has become a key factor. In this article, we propose novel horse inspired all eight-wheeled vehicle with four swing arms for transportation mountain battlefield. The mechanism structure and system configuration ATV are designed based on leg kinematics analysis. order to analyze obstacle surmounting strategy ATV, model center gravity represented. A reference control method is...

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, main objective is to study modeling attitude small size helicopter. Based on non-simplified helicopter model, new robust control law, which combined with nonlinear method model-free method, proposed in paper. Both wind gust ground effect phenomena conditions are involved experiment result real platform demonstrates effectiveness of algorithm robustness its resultant controller.

The routine use of prosthetic hands significantly enhances amputees’ daily lives, yet it often introduces cognitive load and reduces reaction speed. To address this issue, we introduce a wearable semi-autonomous hierarchical control framework tailored for amputees. Drawing inspiration from the visual processing stream in humans, fully autonomous bionic controller is integrated into hand system to offload burden, complemented by Human-in-the-Loop (HIL) method. In ventral-stream phase,...

To analyze the structural characteristics of a human hand, data collection gloves were worn for typical grasping tasks. The hand manipulation characteristics, finger end pressure, and joint bending angle obtained via an experiment based on Feix spectrum. Twelve types tendon rope transmission paths designed under N + 1 type drive mode, motion performance these 12 applied to tendon-driven fingers was evaluated evaluation metric. shows that path (d) has good control effect fluctuations tension...

A new improved differential evolution constrained optimization algorithm is proposed to determine the optimum path generation of a rock-drilling manipulator with nine degrees freedom. This developed minimize total joint displacement without compromising pose accuracy end-effector. Considering rule for optimal operation time and smooth motion, minimization end-effector error are respectively taken as objective constraints. In algorithm, inverse kinematics solution computed by self-adaptive...

The generous application of robot-assisted minimally invasive surgery (RAMIS) promotes human-machine interaction (HMI). Identifying various behaviors doctors can enhance the RAMIS procedure for redundant robot. It bridges intelligent robot control and activity recognition strategies in operating room, including hand gestures human activities. In this paper, to identification a dynamic situation, we propose multimodal data fusion framework provide multiple information accuracy enhancement....

Abstract Purpose Both safety and accuracy are of vital importance for surgical operation procedures. An efficient way to avoid the singularity robot concerning issues is maximize its manipulability in robot‐assisted surgery. The goal this work was validate a dynamic neural network optimization method control 7‐degree freedom (DoF) operation. Methods Three different paths, circle, sinusoid spiral were chosen simulate typical tasks. network‐based implemented on 7‐DoF manipulator. During...

Abstract The use of automated equipment for surface crack detection based on digital image acquisition is becoming increasingly popular in the inspection industry. While researchers typically focus improving accuracy recognition methods, quality essential to effectiveness algorithm. However, evaluating images has received little attention computer‐aided civil and infrastructure engineering. A prominent issue whether cracks are visible measurable images. This study proposes an evaluation...

Rock drilling robots are able to greatly reduce labor intensity and improve efficiency quality in tunnel construction. However, due the characteristics of heavy load, large span, multi-joints robot manipulator, errors diverse non-linear, which pose challenges intelligent high-precision control manipulator. In order enhance accuracy, a hybrid positional error compensation method based on Radial Basis Function Network (RBFN) Light Gradient Boosting Decision Tree (LightGBM) is proposed for rock...

The approach that achieves the teleoperation between human muscle signals and mobile robot is increasingly applied to transfer stiffness enhance robotic performance.In this paper, we develop a rollator control system applying interface shared method obstacle avoidance in an effective way.In order intuitively, haptic feedback utilized integrated with EMG provide large composition force.Then force implemented artificial potential field keep away from advance.This algorithm superior traditional...

Teaching by demonstration (TbD) is a powerful way to generalize the skills learned from human demonstrations fulfill complex requirements. The mobile robot can learn new interaction with being in an intuitive way. In this paper, we propose human-robot skill transfer system for that instructed follow trajectory demonstrated teacher wearing motion capturing device while Kinect sensor recording trajectory. With multi-modal fusion, position and velocity of are enhanced correction accuracy. A...

The increasing complexity of modern surgery rooms brings many challenges. Human activity recognition (HAR) plays a significant part in healthcare, telemedicine, long-term treatment, and even by using wearable inertial sensors or depth cameras. Although the development artificial intelligence techniques provide various machine learning (ML) methods to identify activities, it is time-consuming implementation high work burden collect label large data set. To fascinate efficient collection...

With the widespread application of robots, Human-Robot Interaction (HRI) is an essential aspect in our daily lives. Especially when there a great requirement natural and simple control interface for intuitive controls. However, it inevitable that robot will interfere with external environment while controlling robot. In this paper, hybrid IMU/muscle teleoperation method serial manipulator proposed to adaptation safer way. The can be controlled by real-time, applying forearm-motion estimates...

Recently, as a highly infectious disease of novel coronavirus (COVID-19) has swept the globe, more and patients need to be isolated in rooms hospitals, so how deliver meals or drugs these is urgent work. It reliable effective method transport medical supplies using robots, but teach robot destination enter door like human an exciting task. In this paper, human-like control framework for mobile service considered, where Kinect sensor used manage activity recognition generate designed teaching...