Compliant manipulators equipped with Variable Stiffness Actuation (VSA) possess the ability to safely interact their environment and adapt complex tasks. However, tracking performance of such is significantly influenced by intrinsic compliance varying stiffness. This paper presents a robust control strategy for compliant Discrete (DVSA), aimed at enhancing under both fixed stiffness conditions. By compensating nonlinear dynamics, joint coupling, frictions, variability uncertainties through...

One of the most frequently used approaches to represent collaborative mapping are probabilistic occupancy grid maps. These maps can be exchanged and integrated among robots reduce overall exploration time, which is main advantage systems. Such map fusion requires solving unknown initial correspondence problem. This article presents an effective feature-based approach that includes processing spatial probabilities detecting features based on locally adaptive nonlinear diffusion filtering. We...

Hypertension, a common health issue, requires effective, patient-friendly treatments. Irbesartan, an Angiotensin II receptor antagonist, is frequently used to manage hypertension, but its low solubility restricts bioavailability. This study aimed develop and optimize fast-dissolving tablets (FDTs) of Irbesartan by utilizing natural polysaccharide from Glycyrrhiza glabra as superdisintegrant enhance wetting time, disintegration drug release, thus improving patient compliance therapeutic...

Human-robot interaction is of the utmost importance as it enables seamless collaboration and communication between humans robots, leading to enhanced productivity efficiency. It involves gathering data from humans, transmitting a robot for execution, providing feedback human. To perform complex tasks, such robotic grasping manipulation, which require both human intelligence capabilities, effective modes are required. address this issue, we use wearable glove collect relevant demonstrator...

The road accidents due to traffic problems and human erroneous driving are the major challenges for researches. self-driving car or mobile robot is solution avoid such mishaps. In this paper, an attempted has been made develop obstacle avoidance algorithms bicycle vehicle model of robots. hybrid algorithm proposed on merits line, wall following tangent bug algorithm. trajectory generated from fed into overwhelming controller avoiding obstacles. Then, fuzzy logic (FL) based proposed....

In this paper, the development of a four wheel mobile robot with gesture-controlled arm manipulator system is presented. The accelerometer and wifi based gesture control model used to manipulate motion its human hand. glove data movement for pick place operation. object detection algorithm also implemented detect autonomously. An ultrasonic sensor upcoming object. Under work, only single considered. prototype four-wheel two movable arms developed. proposed on physical check effectiveness...

A mathematical model describing the dynamic characteristics of vehicle needs to be solved for predicting future position and orientation relative changing environment. By reducing time consumed solve complex model, cycle overall process can decreased. The work done in this paper, attempts reduce computational by mathematically finding redundant elements, which do not add major dynamics system but increase calculation increasing complexity. Here, eigenvalue separation sensitivity methods have...

The development of Adaptive Cruise Control (ACC) systems aims to enhance the safety and comfort vehicles by automatically regulating speed vehicle ensure a safe gap from preceding vehicle. However, conventional ACC are unable adapt themselves changing driving conditions drivers' behavior. To address this limitation, we propose Long Short-Term Memory (LSTM)based system that can learn past experiences predict new situations in realtime. model is constructed based on real-world highD dataset,...

This paper deals with the fault detection, isolation (FDI) and reconfiguration of locomotion a bipedal-legged robot. Initially, planar model legged robot in vertical plane is developed using bond graph (BG) approach. Then, BG extended to three-dimensional Two individual motors are used actuate prismatic leg for locomotion. The simulation provides results straight walking based on an oscillating cylinder mechanism turning motion discussed. prototype also experimentation done inclined...

Abstract This work describes design and implementation of a navigation obstacle avoidance controller using fuzzy logic for four-wheel mobile robot. The main contribution this paper can be summarized in the fact that single used as well (static, dynamic both) model bond graph is to develop robot then it converted into SIMULINK block by ‘S-function’ directly from SYMBOLS Shakti software library. equipped with DC motors, three ultrasonic sensors measure distance obstacles optical encoders...

We developed a robotic arm for master-slave system to support tele-operation of an anthropomorphic robot, which realizes remote dexterous manipulation tasks. In this paper, we describe the design and specifications experimental setup demonstrate feasibility using exoskeleton. The paper explores decisions trade-offs made in achieving combination price performance. 6-degree-of-freedom slave exoskeleton master control arm.

Sensor positioning involves determining the best location for a sensor to be placed or installed so that it can effectively sense measure desired physical environmental parameters. In this paper, we present novel approach finding positions on robotic hand using machine learning techniques. We focus pressure sensors and their placement in order enhance performance reliability of gesture recognition tasks. Our study analyzes data from 22 at different locations right-handed hand, simulating 10...