Journal articles on the topic 'Robots – Control systems'
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1
Maimon, Oded, and Mark Last. "Information-efficient robotic control." Robotica 12, no. 2 (March 1994): 157–64. http://dx.doi.org/10.1017/s0263574700016738.
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SUMMARYThe work demonstrates a new approach to design of a level of intelligent control of robotic systems. The analytical model results in operational decisions. The structure of these decisions make them readily available to be implemented as an expert system. The approach is applied to a case study of mobile supervisory robots. The model presented here was motivated by manufacturing robotic systems and a type of autonomous robots that collect information at different sites for safety and other control purposes. The robot actions are directly affected by the obta~ned data. At each site the amount of available information (and thus the correctness of the robot decision) can be increased if the robot keeps collecting data at that site for a longer period of t~me. This means a delay in reacting and in reaching next site and accordingly, a decrease in the general amount of robot's information on the whole system.The method of finding an economic amount of information collected by a robot at each site is based on the theory of controlled discrete event stochastic systems developed in our earlier works. This theory combines he basic concepts of discrete event control extended to stochastic systems with some aspects of information economics.
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Barca, Jan Carlo, Eugene Eu-Juin Lee, and Ahmet Sekercioglu. "Flexible Morphogenesis based Formation Control for Multi-Robot Systems." IAES International Journal of Robotics and Automation (IJRA) 2, no. 1 (March 1, 2013): 26. http://dx.doi.org/10.11591/ijra.v2i1.pp26-34.
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Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic ground moving robots to generate formations in less than 9 seconds with three robots and less than 22 seconds with five robots, is also presented. These experiments furthermore reveal that the proposed technique enables groups of robots to generate formations without significantly increasing the total travel distance when faced with obstacles. This work is an important contribution to multi-robot control theory as history has shown that the success of groups often depends on efficient and robust formation control.
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Sathyan, Anoop, and Ou Ma. "Collaborative Control of Multiple Robots Using Genetic Fuzzy Systems." Robotica 37, no. 11 (April 15, 2019): 1922–36. http://dx.doi.org/10.1017/s0263574719000353.
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SummaryThis paper introduces an approach of collaborative control for individual robots to collaboratively perform a common task, without the need for a centralized controller to coordinate the group. The approach is illustrated by an application example involving multiple robots performing a collaborative task to achieve a common goal. The objective of this example problem is to control multiple robots that are connected to an object through elastic cables in order to bring the object to a target position. There is no communication between the robots, and hence each robot is unaware of how the other robots are going to react at any instant. Only the information pertaining to the object and the target is available to all the robots at any instant. Genetic fuzzy system (GFS) is used to develop controller for each of the robots. The nonlinearity of fuzzy logic systems coupled with the search capability of genetic algorithms provides a tool to design controllers for such collaborative tasks. A set of training scenarios are developed to train the individual robot controllers for this task. The trained controllers are then tested on an extensive set of scenarios. This paper describes the development process of GFS controllers for dynamic case involving systems consisting of three robots. It is also shown that the GFS controllers are scalable for the more complex systems involving more than three robots.
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Zhang, Shijie, and Yi Cao. "Consensus in networked multi-robot systems via local state feedback robust control." International Journal of Advanced Robotic Systems 16, no. 6 (November 1, 2019): 172988141989354. http://dx.doi.org/10.1177/1729881419893549.
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In the article, the consensus problem is considered for networked multi-robot systems, in which the dynamical equation of all robots is non-holonomic and nonlinear systems. In the multi-robot systems, each robot updates its current states and receives the states from the neighboring robots. Under the assumption that if the network graph is bidirectional, a local information-based state feedback robust controller is designed to make sure the convergence of the individual robots’ states to a common value. Finally, the effectiveness of the presented method is illustrated by the simulation results of a group of four mobile robots.
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Torabi, Ali, Mohsen Khadem, Koroush Zareinia, Garnette Roy Sutherland, and Mahdi Tavakoli. "Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement." Robotica 38, no. 10 (May 20, 2020): 1880–94. http://dx.doi.org/10.1017/s0263574720000326.
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SUMMARYThe enhanced dexterity and manipulability offered by master–slave teleoperated surgical systems have significantly improved the performance and safety of minimally invasive surgeries. However, effective manipulation of surgical robots is sometimes limited due to the mismatch between the slave and master robots’ kinematics and workspace. The purpose of this paper is first to formulate a quantifiable measure of the combined master–slave system manipulability. Next, we develop a null-space controller for the redundant master robot that employs the proposed manipulability index to enhance the performance of teleoperation tasks by matching the kinematics of the redundant master robot with the kinematics of the slave robot. The null-space controller modulates the redundant degrees of freedom of the master robot to reshape its manipulability ellipsoid (ME) towards the ME of the slave robot. The ME is the geometric interpretation of the kinematics of a robot. By reshaping the master robot’s manipulability, we match the master and slave robots’ kinematics. We demonstrate that by using a redundant master robot, we are able to enhance the master–slave system manipulability and more intuitively transfer the slave robot’s dexterity to the user. Simulation and experimental studies are performed to validate the performance of the proposed control strategy. Results demonstrate that by employing the proposed manipulability index, we can enhance the user’s control over the force/velocity of a surgical robot and minimize the user’s control effort for a teleoperated task.
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Hernandez-Martinez, E. G., J. J. Flores-Godoy, and G. Fernandez-Anaya. "Decentralized Discrete-Time Formation Control for Multirobot Systems." Discrete Dynamics in Nature and Society 2013 (2013): 1–8. http://dx.doi.org/10.1155/2013/746713.
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Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local interactions of robots. The main contribution is an original formal proof about the global convergence to the formation pattern represented by an arbitrary Formation Graph using attractive potential functions. The analysis is addressed for the case of omnidirectional robots with numerical simulations.
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Abdelaal, Alaa Eldin, Prateek Mathur, and Septimiu E. Salcudean. "Robotics In Vivo: A Perspective on Human–Robot Interaction in Surgical Robotics." Annual Review of Control, Robotics, and Autonomous Systems 3, no. 1 (May 3, 2020): 221–42. http://dx.doi.org/10.1146/annurev-control-091219-013437.
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This article reviews recent work on surgical robots that have been used or tested in vivo, focusing on aspects related to human–robot interaction. We present the general design requirements that should be considered when developing such robots, including the clinical requirements and the technologies needed to satisfy them. We also discuss the human aspects related to the design of these robots, considering the challenges facing surgeons when using robots in the operating room, and the safety issues of such systems. We then survey recent work in seven different surgical settings: urology and gynecology, orthopedic surgery, cardiac surgery, head and neck surgery, neurosurgery, radiotherapy, and bronchoscopy. We conclude with the open problems and recommendations on how to move forward in this research area.
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Kosuge, Kazuhiro. "Applications of Motion Control Originated from Robot Technology." Journal of Robotics and Mechatronics 16, no. 4 (August 20, 2004): 346–47. http://dx.doi.org/10.20965/jrm.2004.p0346.
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A new research model proposed by the Science Council of Japan in 1999 [1, 2] is based on how research is conducted and culturally integrated into society. Motion control systems developed for robots as part of the robot technology (RT) has potential applications both in actual robot systems and other systems, as demonstrated in several examples showing how motion control schemes developed for robots can be used.
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Cen, Hua, and Bhupesh Kumar Singh. "Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure." Wireless Communications and Mobile Computing 2021 (June 17, 2021): 1–9. http://dx.doi.org/10.1155/2021/2974839.
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Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.
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Siefke, Lennart, Volker Sommer, Björn Wudka, and Carsten Thomas. "Robotic Systems of Systems Based on a Decentralized Service-Oriented Architecture." Robotics 9, no. 4 (September 27, 2020): 78. http://dx.doi.org/10.3390/robotics9040078.
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Multi-robot systems are often static and pre-configured during the design time of their software. Emerging cooperation between unknown robots is still rare and limited. Such cooperation might be basic like sharing sensor data or complex like conjoined motion planning and acting. Robots should be able to detect other robots and their abilities during runtime. When cooperation seems to be possible and beneficial, it should be initiated autonomously. A centralized cloud control shall be avoided. Using software patterns belonging to service-oriented architectures, the robots are able to discover other robots and their abilities during runtime. These abilities are implemented as services and described by their interfaces. Composition of services can be done easily and flexibly. The software patterns originally belonging to cloud computing could be successfully adopted to decentralized multi-robot systems. The developed concept allows autonomous systems to cooperate flexibly and to compose multi-robot systems during runtime.
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Martínez-García, Edgar A., Rafael Torres-Córdoba, Victor M. Carrillo-Saucedo, and Elifalet López-González. "Neural control and coordination of decentralized transportation robots." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 5 (March 9, 2018): 519–40. http://dx.doi.org/10.1177/0959651818756777.
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This work presents the modeling, control architecture and simulation of a decentralized multi-robot system for transporting material in a warehouse. Each robot has a task scheduler comprising two different neural networks for task allocation and fault tolerance. The path planner consists of a first-order dynamical state equation to control the robot’s four-wheel asynchronous driving and steering, as well as a partial differential equation to coordinate speeds and arrival times. The task allocation and motion coordination combine the robot’s kinematic control law with a one-layer artificial neural network that classifies five-dimensional symbolic logical equations that define the state transitions between asynchronous events. These events include carry and fetch, material supply, robots stop, obstacle avoidance and battery state. Another multilayer artificial neural network reads the same state inputs for fault detection and recovery. The two neural systems feed forward a navigation planner, which uses a partial differential equation to coordinate the robot’s speed and its relaxation time with respect to the robot in front of it. The energy cost is measured by a Lagrangian function. The proposed planning control scheme was computationally validated through parallel computing simulations. The system is shown to be consistent, reliable and feasible, and it allows for fast navigational tasks.
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Trinh, Minh-Chien, Trong-Hieu Do, and Quy-Thinh Dao. "DEVELOPMENT OF A REHABILITATION ROBOT: MODELING AND TRAJECTORY TRACKING CONTROL." ASEAN Engineering Journal 12, no. 4 (November 29, 2022): 121–29. http://dx.doi.org/10.11113/aej.v12.17196.
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Recently, assistive robots have attracted great attention from researchers in the rehabilitation field. These types of robots support patients to perform designated movements during a training process. Despite the existence of commercial rehabilitation systems, growing demands for improvement in both hardware and control design are evident. Therefore, this paper introduces a prototype pneumatic artificial muscle-based assistive robot named BK-Gait and its control strategy for trajectory tracking purposes. Firstly, a brief description of the robot mechanism is presented. Secondly, the mathematical model of the robot’s actuator is built. Third, an active disturbance rejection control (ADRC) strategy is developed to enhance the tracking performance of the robot. Finally, multi scenarios experiments are carried out to evaluate the applicability of the robot and the proposed controller in the rehabilitation field.
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Karnik, Ajit M., and Naresh K. Sinha. "Adaptive control of an industrial robot." Robotica 4, no. 4 (October 1986): 243–46. http://dx.doi.org/10.1017/s0263574700009929.
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SUMMARYFor the past several years, industrial robots are being used extensively. These robots are generally equipped with relatively simple control systems. Such control systems have proved adequate, but with increased demand on robot performance, there is need for advanced and sophisticated controllers. One of the probelms in the control of robots is that system dynamics change due to several factors such as the orientation of arms and their effective inertia.Adaptive controllers have the advantage that the system is continuously modelled and controller parameters are evaluated on-line, thus resulting in superior performance. Adaptive controllers can be realized in several ways.This paper describes the design and performance of an explicit self tuning regulator for a robot arm.
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Cho, Chunhyung, and Jonghoek Kim. "Robust Distributed Rendezvous Using Multiple Robots with Variable Range Radars." Applied Sciences 12, no. 17 (August 26, 2022): 8535. http://dx.doi.org/10.3390/app12178535.
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This paper considers multi-robot systems, such that each robot has a radar for detecting its neighbor robots. We consider a practical scenario in which a radar sensor contains measurement noise, and the environmental disturbance generates process noise in a robot’s maneuvering. We consider a 3D scenario such that the network can be split initially. For instance, complete failures of one or more robots can split the network. Considering 3D environments, the goal of our paper is to let all robots rendezvous in a distributed manner so that the network connectivity can be recovered even after the network is split. Robust distributed rendezvous control is designed so that the network connectivity is maintained (or recovered) during the maneuvering of a robot. To recover the network connectivity, we adaptively control the robot’s radar footprint by increasing the transmission power level (adjust the amplifier in the transmitter). To the best of our knowledge, this paper is novel in applying a radar with a variable sensing range in order to make all robots rendezvous in 3D environments. We address MATLAB simulations to demonstrate the outperformance of our rendezvous approach with variable range radars by comparing it with the state-of-the-art in multi-robot rendezvous controls.
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Yin, Zikang, Chao Ye, Hao An, Weiyang Lin, and Zhifeng Wang. "Robot Manipulation Skills Transfer for Sim-to-Real in Unstructured Environments." Electronics 12, no. 2 (January 13, 2023): 411. http://dx.doi.org/10.3390/electronics12020411.
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Robot force control that needs to be customized for the robot structure in unstructured environments with difficult-to-tune parameters guarantees robots’ compliance and safe human–robot interaction in an increasingly expanding work environment. Although reinforcement learning provides a new idea for the adaptive adjustment of these parameters, the policy often needs to be trained from scratch when used in new robotics, even in the same task. This paper proposes the episodic Natural Actor-Critic algorithm with action limits to improve robot admittance control and transfer motor skills between robots. The motion skills learned by simple simulated robots can be applied to complex real robots, reducing the difficulty of training and time consumption. The admittance control ensures the realizability and mobility of the robot’s compliance in all directions. At the same time, the reinforcement learning algorithm builds up the environment model and realizes the adaptive adjustment of the impedance parameters during the robot’s movement. In typical robot contact tasks, motor skills are trained in a robot with a simple structure in simulation and used for a robot with a complex structure in reality to perform the same task. The real robot’s performance in each task is similar to the simulated robot’s in the same environment, which verifies the method’s effectiveness.
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Mikolajczyk, Tadeusz, Emilia Mikołajewska, Hayder F. N. Al-Shuka, Tomasz Malinowski, Adam Kłodowski, Danil Yurievich Pimenov, Tomasz Paczkowski, et al. "Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems." Sensors 22, no. 12 (June 12, 2022): 4440. http://dx.doi.org/10.3390/s22124440.
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Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of birds. This review presents the current state of the art of bipedal walking robots based on natural bipedal movements (human and bird) as well as on innovative synthetic solutions. Firstly, an overview of the scientific analysis of human gait is provided as a basis for the design of bipedal robots. The full human gait cycle that consists of two main phases is analysed and the attention is paid to the problem of balance and stability, especially in the single support phase when the bipedal movement is unstable. The influences of passive or active gait on energy demand are also discussed. Most studies are explored based on the zero moment. Furthermore, a review of the knowledge on the specific locomotor characteristics of birds, whose kinematics are derived from dinosaurs and provide them with both walking and running abilities, is presented. Secondly, many types of bipedal robot solutions are reviewed, which include nature-inspired robots (human-like and birdlike robots) and innovative robots using new heuristic, synthetic ideas for locomotion. Totally 45 robotic solutions are gathered by thebibliographic search method. Atlas was mentioned as one of the most perfect human-like robots, while the birdlike robot cases were Cassie and Digit. Innovative robots are presented, such asslider robot without knees, robots with rotating feet (3 and 4 degrees of freedom), and the hybrid robot Leo, which can walk on surfaces and fly. In particular, the paper describes in detail the robots’ propulsion systems (electric, hydraulic), the structure of the lower limb (serial, parallel, mixed mechanisms), the types and structures of control and sensor systems, and the energy efficiency of the robots. Terrain roughness recognition systems using different sensor systems based on light detection and ranging or multiple cameras are introduced. A comparison of performance, control and sensor systems, drive systems, and achievements of known human-like and birdlike robots is provided. Thirdly, for the first time, the review comments on the future of bipedal robots in relation to the concepts of conventional (natural bipedal) and synthetic unconventional gait. We critically assess and compare prospective directions for further research that involve the development of navigation systems, artificial intelligence, collaboration with humans, areas for the development of bipedal robot applications in everyday life, therapy, and industry.
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Karbasi, Hamidreza, Jan Paul Huissoon, and Amir Khajepour. "Blend of independent joint control and variable structure systems for uni-drive modular robots." Robotica 28, no. 1 (May 22, 2009): 149–59. http://dx.doi.org/10.1017/s0263574709005670.
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SUMMARYIn this paper, a control design methodology for a new class of modular robots, so-called “uni-drive modular robots” is introduced. Uni-drive modular robots have a substantial advantage over regular modular robots in terms of the mass of each module since then employ only a single drive for powering all the joints. The drive is mounted at the robot base and all joints tap power from this single drive using clutches. By controlling the engagement time of the clutches, the position and velocity of the joints are regulated. After reviewing the structure of the uni-drive modular robot, a self-expansion formula to generate the dynamics of the robot is introduced. The control of uni-drive n-module robots is realized by blending independent joint control and theory of variable structure systems via a pulse width modulation technique. A uni-drive modular robot is used to conduct simulations and validate the control design technique.
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Kazerooni, H. "Compliance Control and Stability Analysis of Cooperating Robot manipulators." Robotica 7, no. 3 (July 1989): 191–98. http://dx.doi.org/10.1017/s0263574700006044.
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SUMMARYThe work presented here is the description of the control strategy of two cooperating robots. A two–finger hand is an example of such a System. The control method allows for position control of the contact point by one of the robots while the other robot controls the contact force. The stability analysis of two robot manipulators has been investigated using unstructured models for dynamic behavior of robot manipulators. For the stability of two robots, there must be some initial compliance in either robot. The initial compliance in the robots can be obtained by a non-zero sensitivity function for the tracking controller or a passive compliant element such as an RCC.
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Hashimoto, Kenji, Yusuke Sugahara, Hun-Ok Lim, and Atsuo Takanishi. "Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment." Journal of Robotics and Mechatronics 20, no. 5 (October 20, 2008): 775–84. http://dx.doi.org/10.20965/jrm.2008.p0775.
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Many researchers have studied walking stability control for biped robots, most of which involve highly precise acceleration controls based on robot model mechanics. Modeling error, however, makes the control algorithms used difficult to apply to biped walking robots intended to transport human users. The “landing pattern modification method” we propose is based on nonlinear admittance control. Theoretical compliance displacement calculated from walking patterns is compared to actual compliance displacement, when a robot's foot contacts slightly uneven terrain. Terrain height is detected and the preset walking pattern is modified accordingly. The new biped foot we also propose forms larger support polygons on uneven terrain than conventional biped foot systems do. Combining our new modification method and foot, a human-carrying biped robot can traverse uneven terrain, as confirmed in walking experiments.
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Karbasi, Hamidreza, Amir Khajepour, and Jan Paul Huissoon. "Unidrive Modular Robot: Dynamics, Control, and Experiments." Journal of Dynamic Systems, Measurement, and Control 128, no. 4 (November 15, 2005): 969–75. http://dx.doi.org/10.1115/1.2363199.
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In this paper, a control design methodology for the new class of modular robots so-called “unidrive modular robots” is introduced. Unidrive modular robots because of employing only a single drive for operating all the joints have a substantial advantage over regular modular robots in terms of the mass of each module. The drive is mounted at the robot base and all joints tap power from the single drive using clutches. By controlling the engagement time of the clutches, the position and velocity of the joints are regulated. In this work, a general state space model of the robot is first developed and then based on the theory of variable structure systems and sliding mode control a design methodology for local controllers is introduced. The control design technique is validated by experimental results.
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Nugraha, Sapta. "Sistem Kendali Navigasi Robot Manual." JTEV (Jurnal Teknik Elektro dan Vokasional) 5, no. 1.1 (September 25, 2019): 91. http://dx.doi.org/10.24036/jtev.v5i1.1.106153.
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The purpose of this study is to control the robot's navigation manually and determine the coordinate position and movement patterns of the manual robot. This study uses GPS to determine the position of coordinates and patterns of manual robot movements. Manual robot navigation control systems use wireless joysticks and use of omni wheels on manual robot mechanics to maneuver movements in all directions. The control device uses the Serial Peripheral Interface (SPI) communication by utilizing the nRF24L01 communication device on the 2.4 GHz RF band. The results showed that the position and pattern of manual robot navigation movements can be known based on the coordinate points on the route taken. In addition, wireless joysticks can control manual robots to maneuver the movements of manual robots in all directions.
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Chiou, Manolis, Nick Hawes, and Rustam Stolkin. "Mixed-initiative Variable Autonomy for Remotely Operated Mobile Robots." ACM Transactions on Human-Robot Interaction 10, no. 4 (December 31, 2021): 1–34. http://dx.doi.org/10.1145/3472206.
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This article presents an Expert-guided Mixed-initiative Control Switcher (EMICS) for remotely operated mobile robots. The EMICS enables switching between different levels of autonomy during task execution initiated by either the human operator and/or the EMICS. The EMICS is evaluated in two disaster-response-inspired experiments, one with a simulated robot and test arena, and one with a real robot in a realistic environment. Analyses from the two experiments provide evidence that: (a) Human-Initiative (HI) systems outperform systems with single modes of operation, such as pure teleoperation, in navigation tasks; (b) in the context of the simulated robot experiment, Mixed-initiative (MI) systems provide improved performance in navigation tasks, improved operator performance in cognitive demanding secondary tasks, and improved operator workload compared to HI. Last, our experiment on a physical robot provides empirical evidence that identify two major challenges for MI control: (a) the design of context-aware MI control systems; and (b) the conflict for control between the robot’s MI control system and the operator. Insights regarding these challenges are discussed and ways to tackle them are proposed.
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Seo, Jungwon, Jamie Paik, and Mark Yim. "Modular Reconfigurable Robotics." Annual Review of Control, Robotics, and Autonomous Systems 2, no. 1 (May 3, 2019): 63–88. http://dx.doi.org/10.1146/annurev-control-053018-023834.
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This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be versatile, robust, and low cost compared with other conventional robot systems. MRR systems thus have the potential to outperform traditional systems with a fixed morphology when carrying out tasks that require a high level of flexibility. We begin by introducing the taxonomy of MRRs based on their hardware architecture. We then examine recent progress in the hardware and the software technologies for MRRs, along with remaining technical issues. We conclude with a discussion of open challenges and future research directions.
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Yasuda, Gen'ichi. "Design and Implementation of Distributed Autonomous Coordinators for Cooperative Multi-Robot Systems." International Journal of System Dynamics Applications 5, no. 4 (October 2016): 1–15. http://dx.doi.org/10.4018/ijsda.2016100101.
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The paper presents a systematic method of the design of cooperative task planning and execution for complex robotic systems using multiple robots. Because individual robots can autonomously execute their dedicated tasks, in cooperative multi-robot systems, robotic activities should be designed as discrete event driven asynchronous, concurrent processes. Further, since robotic activities are hierarchically defined, control requirements should be specified in a proper and consistent manner on different levels of control abstraction. In this paper, Petri nets are adopted as a specification tool for task planning and execution by multiple robots. Based on place/transition Petri nets, control conditions for inter-robot cooperation with synchronized interaction are represented, and control rules to achieve distributed autonomous coordinated activities with synchronous and asynchronous communication are proposed. An implementation of net based control software on hierarchical and distributed architecture is presented for an example multi-robot cell, where the higher-level controller executes a global net model of task plan representing cooperative behaviors performed by the robots, and the parallel activities of the individual robots are synchronized through the transmission of requests and the reception of status between the associated lower-level local controllers.
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Omisore, Olatunji Mumini, Shipeng Han, Yousef Al-Handarish, Wenjing Du, Wenke Duan, Toluwanimi Oluwadara Akinyemi, and Lei Wang. "Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems." Micromachines 11, no. 4 (April 7, 2020): 386. http://dx.doi.org/10.3390/mi11040386.
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Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance during motion. Simulation of the robot and implementation of the proposed control models were done in Matlab. Several points on different circular paths were used for evaluation, and the results obtained show the model had a mean kinematic error of 0.37 ± 0.36 mm with very fast kinematics and dynamics resolution times. Furthermore, the robot’s movement was geometrically and parametrically continuous for three different trajectory cases on a circular pathway. In addition, procedures for dynamic constraint and obstacle collision detection were also proposed and validated. In the latter, a collision-avoidance scheme was kept optimal by keeping a safe distance between the robot’s links and obstacles in the workspace. Analyses of the results showed the control system was optimal in determining the necessary joint angles to reach a given target point, and motion profiles with a smooth trajectory was guaranteed, while collision with obstacles were detected a priori and avoided in close to real-time. Furthermore, the complexity and computational effort of the algorithmic models were negligibly small. Thus, the model can be used to enhance the real-time control of flexible robotic systems.
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Rogalinski, Paweł. "An approach to automatic robots programming in the flexible manufacturing cell." Robotica 12, no. 3 (May 1994): 263–79. http://dx.doi.org/10.1017/s0263574700017239.
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SUMMARYThe paper presents an approach to automatic synthesis of program for robots in a flexible manufacturing cell (FMC). The system of program generation consists of two layers: Task-Level Programming Layer and Program Interpretation and Verification Layer. The first layer uses robot-independent planning techniques to create a work plan for robots (set of elementary actions) and program for each elementary action. The second layer uses robot-dependent planning methods to plan robot's trajectories and calculate the robot's motion times. A simulation model of whole FMC, which is created based on a description of FMC and program for robots, makes possible evaluation of efficiency of FMC work.
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Salamat, Babak, and Gerhard Elsbacher. "Steering a Swarm of Large-Scale Underactuated Mechanical Systems Using a Generalized Coordinates Transformation." Aerospace 9, no. 11 (November 9, 2022): 702. http://dx.doi.org/10.3390/aerospace9110702.
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Steering large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized approach. Previous works are often restricted to the assumption of fully actuated robots. Here we propose an approach for underactuated robots that allows for energy-efficient control of the robot system. We consider a simple task of gathering the robots (minimizing positional variance) and steering them towards a goal point within a bounded area without obstacles. We make two main contributions. First, we present a generalized coordinate transformation for underactuated robots, whose physical properties should be considered. We choose Euler-Lagrange systems that describe a large class of robot systems. Second, we propose an optimal control mechanism with the prime objective of energy efficiency. We show the feasibility of our approach in robot simulations.
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Bian, Feifei, Danmei Ren, Ruifeng Li, Peidong Liang, Ke Wang, and Lijun Zhao. "Dynamical system based variable admittance control for physical human-robot interaction." Industrial Robot: the international journal of robotics research and application 47, no. 4 (May 15, 2020): 623–35. http://dx.doi.org/10.1108/ir-12-2019-0258.
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Purpose The purpose of this paper is to enable robots to intelligently adapt their damping characteristics and motions in a reactive fashion toward human inputs and task requirements during physical human–robot interaction. Design/methodology/approach This paper exploits a combination of the dynamical system and the admittance model to create robot behaviors. The reference trajectories are generated by dynamical systems while the admittance control enables robots to compliantly follow the reference trajectories. To determine how control is divided between the two models, a collaborative arbitration algorithm is presented to change their contributions to the robot motion based on the contact forces. In addition, the authors investigate to model the robot’s impedance characteristics as a function of the task requirements and build a novel artificial damping field (ADF) to represent the virtual damping at arbitrary robot states. Findings The authors evaluate their methods through experiments on an UR10 robot. The result shows promising performances for the robot to achieve complex tasks in collaboration with human partners. Originality/value The proposed method extends the dynamical system approach with an admittance control law to allow a robot motion being adjusted in real time. Besides, the authors propose a novel ADF method to model the robot’s impedance characteristics as a function of the task requirements.
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Rios, Jorge D., Daniel Ríos-Rivera, Jesus Hernandez-Barragan, Marco Pérez-Cisneros, and Alma Y. Alanis. "Formation Control of Mobile Robots Based on Pin Control of Complex Networks." Machines 10, no. 10 (October 6, 2022): 898. http://dx.doi.org/10.3390/machines10100898.
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Robot formation control has several advantages that make it interesting for research. Multiple works have been published in the literature using different control approaches. This work presents the control of different groups of robots to achieve a desired formation based on pinning control of complex networks and coordinate translation. The implemented control law comprises complex network bounding, proportional, and collision avoidance terms. The tests for this proposal were performed via simulation and experimental tests, considering different networks of differential robots. The selected robots are Turtlebot3® Waffle Pi robots. The Turtlebot3® Waffle Pi is a differential mobile robot with the Robot Operating System (ROS). It has a light detection and ranging (LiDAR) sensor used to compute the collision avoidance control law term. Tests show favorable results on different formations testing on various groups of robots, each composed of a different number of robots. From this work, implementation on other devices can be derived, as well as trajectory tracking once in formation, among other applications.
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Bouteraa, Yassine, Jawhar Ghommam, Nabil Derbel, and Gérard Poisson. "Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems." Journal of Control Science and Engineering 2011 (2011): 1–9. http://dx.doi.org/10.1155/2011/632374.
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We investigate the cooperative control and global asymptotic synchronization Lagrangian system groups, such as industrial robots. The proposed control approach works to accomplish multirobot systems synchronization under an undirected connected communication topology. The control strategy is to synchronize each robot in position and velocity to others robots in the network with respect to the common desired trajectory. The cooperative robot network only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of an explicit leader in the team. It is assumed that network robots have the same number of joints and equivalent joint work spaces. A combination of the lyapunov-based technique and the cross-coupling method has been used to establish the multirobot system asymptotic stability. The developed control combines trajectory tracking and coordination algorithms. To address the time-delay problem in the cooperative network communication, the suggested synchronization control law is shown to synchronize multiple robots as well as to track given trajectory, taking into account the presence of the time delay. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem.
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Kress-Gazit, Hadas, Morteza Lahijanian, and Vasumathi Raman. "Synthesis for Robots: Guarantees and Feedback for Robot Behavior." Annual Review of Control, Robotics, and Autonomous Systems 1, no. 1 (May 28, 2018): 211–36. http://dx.doi.org/10.1146/annurev-control-060117-104838.
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Robot control for tasks such as moving around obstacles or grasping objects has advanced significantly in the last few decades. However, controlling robots to perform complex tasks is still accomplished largely by highly trained programmers in a manual, time-consuming, and error-prone process that is typically validated only through extensive testing. Formal methods are mathematical techniques for reasoning about systems, their requirements, and their guarantees. Formal synthesis for robotics refers to frameworks for specifying tasks in a mathematically precise language and automatically transforming these specifications into correct-by-construction robot controllers or into a proof that the task cannot be done. Synthesis allows users to reason about the task specification rather than its implementation, reduces implementation error, and provides behavioral guarantees for the resulting controller. This article reviews the current state of formal synthesis for robotics and surveys the landscape of abstractions, specifications, and synthesis algorithms that enable it.
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Ha, Sehoon, Stelian Coros, Alexander Alspach, Joohyung Kim, and Katsu Yamane. "Computational co-optimization of design parameters and motion trajectories for robotic systems." International Journal of Robotics Research 37, no. 13-14 (June 5, 2018): 1521–36. http://dx.doi.org/10.1177/0278364918771172.
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We present a novel computational approach to optimizing the morphological design of robots. Our framework takes as input a parameterized robot design as well as a motion plan consisting of trajectories for end-effectors and, optionally, for its body. The algorithm optimizes the design parameters including link lengths and actuator placements whereas concurrently adjusting motion parameters such as joint trajectories, actuator inputs, and contact forces. Our key insight is that the complex relationship between design and motion parameters can be established via sensitivity analysis if the robot’s movements are modeled as spatiotemporal solutions to an optimal control problem. This relationship between form and function allows us to automatically optimize the robot design based on specifications expressed as a function of actuator forces or trajectories. We evaluate our model by computationally optimizing four simulated robots that employ linear actuators, four-bar linkages, or rotary servos. We further validate our framework by optimizing the design of two small quadruped robots and testing their performances using hardware implementations.
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Xu, Dongdong, Xingnan Zhang, Zhangqing Zhu, Chunlin Chen, and Pei Yang. "Behavior-Based Formation Control of Swarm Robots." Mathematical Problems in Engineering 2014 (2014): 1–13. http://dx.doi.org/10.1155/2014/205759.
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Swarm robotics is a specific research field of multirobotics where a large number of mobile robots are controlled in a coordinated way. Formation control is one of the most challenging goals for the coordination control of swarm robots. In this paper, a behavior-based control design approach is proposed for two kinds of important formation control problems: efficient initial formation and formation control while avoiding obstacles. In this approach, a classification-based searching method for generating large-scale robot formation is presented to reduce the computational complexity and speed up the initial formation process for any desired formation. The behavior-based method is applied for the formation control of swarm robot systems while navigating in an unknown environment with obstacles. Several groups of experimental results demonstrate the success of the proposed approach. These methods have potential applications for various swarm robot systems in both the simulation and the practical environments.
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Suwarno, Iswanto, Wiwin A. Oktaviani, Yosi Apriani, Dhiya Uddin Rijalusalam, and Anish Pandey. "Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot." Journal of Robotics and Control (JRC) 3, no. 1 (January 19, 2022): 107–14. http://dx.doi.org/10.18196/jrc.v3i1.11528.
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The disinfection robot is a virus-sterilizing robot that uses a nonholonomic robot model. Route planning algorithms are needed to allow disinfection robots to sterilize rooms in unknown areas and perform the task while navigating using a potential field algorithm. There is a problem applying the algorithm to nonholonomic robots: avoiding obstacles. The proposed route planning algorithm has been transformed into a potential force used to plan the path of disinfection robots in static and dynamic environments and environments with static obstacles. A potential field algorithm is used. There are some issues when the potential force algorithm is applied to nonholonomic disinfection robots in the area. Like any other robot, it takes a long time to avoid static obstacles. Therefore, this paper proposed a potential force algorithm that allows a robot to move towards a target point while avoiding static obstacles. The algorithm showed that a modified potential field algorithm with potential force could be applied to differential-driven robots for path planning. The disinfection robot could avoid obstacles with a faster response using this algorithm.
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HSU, HARRY CHIA-HUNG, and ALAN LIU. "APPLYING A TAXONOMY OF FORMATION CONTROL IN DEVELOPING A ROBOTIC SYSTEM." International Journal on Artificial Intelligence Tools 16, no. 04 (August 2007): 565–82. http://dx.doi.org/10.1142/s0218213007003436.
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Designing cooperative multi-robot systems (MRS) requires expert knowledge both in control and artificial intelligence. Formation control is an important research within the research field of MRS. Since many researchers use different ways in approaching formation control, we try to give a taxonomy in order to help researchers design formation systems in a systematical way. We can analyze formation structures in two categories: control abstraction and robot distinguishability. The control abstraction can be divided into three layers: formation shape, reference type, and robotic control. Furthermore, robots can be classified as anonymous robots or identification robots depending on whether robots are distinguishable according to their inner states. We use this taxonomy to analyze some ground-based formation systems and to state current challenges of formation control. Such information becomes the design know-how in developing a formation system, and a case study of designing a multi-team formation system is introduced to demonstrate the usefulness of the taxonomy.
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Sechenev, Semyon, Igor Ryadchikov, Alexander Gusev, Abas Lampezhev, and Evgeny Nikulchev. "Development of a Design Methodology for Cloud Distributed Control Systems of Mobile Robots." Journal of Sensor and Actuator Networks 11, no. 1 (December 26, 2021): 1. http://dx.doi.org/10.3390/jsan11010001.
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This article addresses the problem of cloud distributed control systems development for mobile robots. The authors emphasize the lack of a design methodology to guide the process of the development in accordance with specific technical and economic requirements for the robot. On the analysis of various robots architectures, the set of the nine most significant parameters are identified to direct the development stage by stage. Based on those parameters, the design methodology is proposed to build a scalable three-level cloud distributed control system for a robot. The application of the methodology is demonstrated on the example of AnyWalker open source robotics platform. The developed methodology is also applied to two other walking robots illustrated in the article.
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Zghair, Noor Abdul Khaleq, and Ahmed S. Al-Araji. "A one decade survey of autonomous mobile robot systems." International Journal of Electrical and Computer Engineering (IJECE) 11, no. 6 (December 1, 2021): 4891. http://dx.doi.org/10.11591/ijece.v11i6.pp4891-4906.
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<span lang="EN-US">Recently, autonomous mobile robots have gained popularity in the modern world due to their relevance technology and application in real world situations. The global market for mobile robots will grow significantly over the next 20 years. Autonomous mobile robots are found in many fields including institutions, industry, business, hospitals, agriculture as well as private households for the purpose of improving day-to-day activities and services. The development of technology has increased in the requirements for mobile robots because of the services and tasks provided by them, like rescue and research operations, surveillance, carry heavy objects and so on. Researchers have conducted many works on the importance of robots, their uses, and problems. This article aims to analyze the control system of mobile robots and the way robots have the ability of moving in real-world to achieve their goals. It should be noted that there are several technological directions in a mobile robot industry. It must be observed and integrated so that the robot functions properly: Navigation systems, localization systems, detection systems (sensors) along with motion and kinematics and dynamics systems. All such systems should be united through a control unit; thus, the mission or work of mobile robots are conducted with reliability.</span>
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Shuriji, Mushreq Abdulhussain, Traiq Mohammed Salman, and Hussein A. Abdulnabi. "Robots swarm communication control based on biological behavior inspiration." Indonesian Journal of Electrical Engineering and Computer Science 16, no. 3 (December 1, 2019): 1379. http://dx.doi.org/10.11591/ijeecs.v16.i3.pp1379-1391.
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<p>Robot swarming, increasingly find importance in the last decade. In these systems, multi mobile robots have to work cooperatively to perform specified tasks. One of the compelling problems is that the robots movements should be in such a way that they should follow a specific guide and at the same time they should have the ability of obstacle avoidance. Inspiriting such movement from biological swarms is a compelling problem. Fish schools, bird flocks and sheep herds are particular examples of biological systems swarming. In this paper, a robot swarming algorithm was developed based on swarming rules noticed in these biological systems, the combination between the swarm members and the leadership control also explained, an ad-hoc non-essential communication system was proposed for the purpose of use in case of collective takeoff and collective landing swarm-robots, in which activated automatically.</p>
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Bingol, Mustafa Can, and Omur Aydogmus. "Practical application of a safe human-robot interaction software." Industrial Robot: the international journal of robotics research and application 47, no. 3 (January 16, 2020): 359–68. http://dx.doi.org/10.1108/ir-09-2019-0180.
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Purpose Because of the increased use of robots in the industry, it has become inevitable for humans and robots to be able to work together. Therefore, human security has become the primary noncompromising factor of joint human and robot operations. For this reason, the purpose of this study was to develop a safe human-robot interaction software based on vision and touch. Design/methodology/approach The software consists of three modules. Firstly, the vision module has two tasks: to determine whether there is a human presence and to measure the distance between the robot and the human within the robot’s working space using convolutional neural networks (CNNs) and depth sensors. Secondly, the touch detection module perceives whether or not a human physically touches the robot within the same work environment using robot axis torques, wavelet packet decomposition algorithm and CNN. Lastly, the robot’s operating speed is adjusted according to hazard levels came from vision and touch module using the robot’s control module. Findings The developed software was tested with an industrial robot manipulator and successful results were obtained with minimal error. Practical implications The success of the developed algorithm was demonstrated in the current study and the algorithm can be used in other industrial robots for safety. Originality/value In this study, a new and practical safety algorithm is proposed and the health of people working with industrial robots is guaranteed.
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Ikeura, Ryojun, Hikaru Inooka, and Kazuki Mizutani. "Subjective Evaluation for Maneuverability of a Robot Cooperating with Humans." Journal of Robotics and Mechatronics 14, no. 5 (October 20, 2002): 514–19. http://dx.doi.org/10.20965/jrm.2002.p0514.
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Robots will be expected to be user-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work adapting to human characteristics. We have developed control for robots and humans cooperating in carrying an object. To make the robot controller, we studied cooperation force characteristics of two humans and developed variable impedance control for a robot. Variable impedance control for a robot we developed is evaluated subjectively. Results of subjective evaluation give the proposed variable impedance control high marks.
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Freitas, Gustavo M., Antonio C. Leite, and Fernando Lizarralde. "Kinematic control of constrained robotic systems." Sba: Controle & Automação Sociedade Brasileira de Automatica 22, no. 6 (December 2011): 559–72. http://dx.doi.org/10.1590/s0103-17592011000600002.
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This paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of explicitly using the constraint equations. A case study for parallel robots and cooperating redundant robots is discussed based on the following concepts: forward kinematics, differential kinematics, singularities and kinematic control. Simulations results, obtained with a Four-Bar linkage mechanism, a planar Gough-Stewart platform and two cooperating robots, illustrate the applicability and versatility of the proposed methodology.
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Yasuda, Gen’ichi. "Distributed Controller Design for Cooperative Robot Systems Based on Hierarchical Task Decomposition." International Journal of Humanoid Robotics 14, no. 02 (May 25, 2017): 1750017. http://dx.doi.org/10.1142/s0219843617500177.
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A distributed simulation and control method for humanoid robot systems based on the discrete event net models is proposed. Extended Petri nets are adopted as an effective tool to describe, design and control the cooperative behavior of robots. Based on hierarchical net decomposition, conceptual and detailed Petri net models are assigned to the upper level and the lower level controllers, respectively. For the lower level control, individual net models of robots are executed on separate local controllers. The unified net representation for the hierarchical coordination of cooperative execution control by multiple robots is proposed. Overall control software is implemented and executed on a general hierarchical and distributed control architecture corresponding to the hardware structure of robot systems. The upper level system controller and lower level local controllers are concurrently executed, communicating events information (enabled transitions) with each other, so that the cooperative robotic tasks are successfully performed.
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Zhen, Zhang, Cao Qixin, Charles Lo, and Zhang Lei. "A CORBA-based simulation and control framework for mobile robots." Robotica 27, no. 3 (May 2009): 459–68. http://dx.doi.org/10.1017/s026357470800489x.
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SUMMARYThis paper presents a distributed multiple mobile robots framework which allows programming and control of virtual and real mobile robots. The system provides the map building, path planning, robot task planning, simulation, and actual robot control functions in an indoor environment. Users can program the virtual robots in a customized simulation environment and check the performance of execution, i.e., if the simulation result is satisfying, users can download the code to a real robot. The paper focuses on the distributed architecture and key technologies of virtual robots simulation and control of real robots. A method for construction and transfer of a key index value (which stores the robot configuration) is proposed. Using this method, only the robot key configuration index is needed to build the robot in the virtual environment. This results in reduced network load and improved real time performance of the distributed system. Experiments were conducted to compare the performance of the proposed system with the performance of a centralized system. The results show that the distributed system uses less system resources and has better real time performance. What is more, this framework has been applied to Yaskawa's robot “SmartPal.” The simulation and experiment results show that our robotic framework can simulate and control the robot to perform complex tasks.
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Rajapaksha, U. U. Samantha, Chandimal Jayawardena, and Bruce A. MacDonald. "Design, Implementation, and Performance Evaluation of a Web-Based Multiple Robot Control System." Journal of Robotics 2022 (May 30, 2022): 1–24. http://dx.doi.org/10.1155/2022/9289625.
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Heterogeneous multiple robots are currently being used in smart homes and industries for different purposes. The authors have developed the Web interface to control and interact with multiple robots with autonomous robot registration. The autonomous robot registration engine (RRE) was developed to register all robots with relevant ROS topics. The ROS topic identification algorithm was developed to identify the relevant ROS topics for the publication and the subscription. The Gazebo simulator spawns all robots to interact with a user. The initial experiments were conducted with simple instructions and then changed to manage multiple instructions using a state transition diagram. The number of robots was increased to evaluate the system’s performance by measuring the robots’ start and stop response time. The authors have conducted experiments to work with the semantic interpretation from the user instruction. The mathematical equations for the delay in response time have been derived by considering each experiment’s input given and system characteristics. The Big O representation is used to analyze the running time complexity of algorithms developed. The experiment result indicated that the autonomous robot registration was successful, and the communication performance through the Web decreased gradually with the number of robots registered.
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Menezes, Amor A., and Pierre T. Kabamba. "Realizing the promise of robotic self-x systems." Robotica 29, no. 1 (January 2011): i—ii. http://dx.doi.org/10.1017/s0263574710000834.
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Consider a robot trying to accomplish a mission in an unfamiliar, hostile, and dynamic environment. As the robot encounters a seemingly insurmountable obstacle, it quickly reconfigures itself into two smaller robots, and with the aid of a nearby puddle of water, these two robots conduct self-detection procedures to confirm successful reconfiguration. One robot then calibrates itself using its reduced sensor suite and begins climbing over the obstacle, whilst the other robot folds itself into a compact structure and finds a crevice it can use to bypass the obstacle. But when the obstacle shifts, both robots send signals to a base to warn of impending mission failure. A copy of the original robot, located at the base, receives these warning signals and initiates a rapid self-replication process by assembling available resources. The resultant robotic offspring are then ready to continue the mission when called upon.
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Dewi, Tresna, Naoki Uchiyama, Shigenori Sano, and Hiroki Takahashi. "Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion." Journal of Robotics 2014 (2014): 1–11. http://dx.doi.org/10.1155/2014/278659.
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A current trend in robotics is fusing different types of sensors having different characteristics to improve the performance of a robot system and also benefit from the reduced cost of sensors. One type of robot that requires sensor fusion for its application is the service robot. To achieve better performance, several service robots are preferred to work together, and, hence, this paper concentrates on swarm service robots. Swarm service mobile robots operating within a fixed area need to cope with dynamic changes in the environment, and they must also be capable of avoiding dynamic and static obstacles. This study applies sensor fusion and swarm concept for service mobile robots in human services and rehabilitation environment. The swarm robots follow the human moving trajectory to provide support to human moving and perform several tasks required in their living environment. This study applies a reference control and proportional-integral (PI) control for the obstacle avoidance function. Various computer simulations are performed to verify the effectiveness of the proposed method.
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Pearson, Martin J., Ben Mitchinson, J. Charles Sullivan, Anthony G. Pipe, and Tony J. Prescott. "Biomimetic vibrissal sensing for robots." Philosophical Transactions of the Royal Society B: Biological Sciences 366, no. 1581 (November 12, 2011): 3085–96. http://dx.doi.org/10.1098/rstb.2011.0164.
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Active vibrissal touch can be used to replace or to supplement sensory systems such as computer vision and, therefore, improve the sensory capacity of mobile robots. This paper describes how arrays of whisker-like touch sensors have been incorporated onto mobile robot platforms taking inspiration from biology for their morphology and control. There were two motivations for this work: first, to build a physical platform on which to model, and therefore test, recent neuroethological hypotheses about vibrissal touch; second, to exploit the control strategies and morphology observed in the biological analogue to maximize the quality and quantity of tactile sensory information derived from the artificial whisker array. We describe the design of a new whiskered robot, Shrewbot , endowed with a biomimetic array of individually controlled whiskers and a neuroethologically inspired whisking pattern generation mechanism. We then present results showing how the morphology of the whisker array shapes the sensory surface surrounding the robot's head, and demonstrate the impact of active touch control on the sensory information that can be acquired by the robot. We show that adopting bio-inspired, low latency motor control of the rhythmic motion of the whiskers in response to contact-induced stimuli usefully constrains the sensory range, while also maximizing the number of whisker contacts. The robot experiments also demonstrate that the sensory consequences of active touch control can be usefully investigated in biomimetic robots.
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Saukkoriipi, Janne, Tapio Heikkilä, Jari M. Ahola, Tuomas Seppälä, and Pekka Isto. "Programming and control for skill-based robots." Open Engineering 10, no. 1 (May 9, 2020): 368–76. http://dx.doi.org/10.1515/eng-2020-0037.
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AbstractThis paper considers programming and control of skill-based robots. Robot skills are used to integrate and synchronize robot actions and sensor data in a consistent way. Skill-based approach provides a framework for configurable robot systems, enabling quick setups and start-ups of applications. In the paper we will introduce skill programming and skill control concepts in more detail and how they relate to usage of models and sensors. We will also give a practical example for programming and implementing skills for a grinding application.
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Su, Hang, Xu Hou, Xin Zhang, Wen Qi, Shuting Cai, Xiaoming Xiong, and Jing Guo. "Pneumatic Soft Robots: Challenges and Benefits." Actuators 11, no. 3 (March 16, 2022): 92. http://dx.doi.org/10.3390/act11030092.
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In the field of robotics, soft robots have been showing great potential in the areas of medical care, education, service, rescue, exploration, detection, and wearable devices due to their inherently high flexibility, good compliance, excellent adaptability, and natural and safe interactivity. Pneumatic soft robots occupy an essential position among soft robots because of their features such as lightweight, high efficiency, non-pollution, and environmental adaptability. Thanks to its mentioned benefits, increasing research interests have been attracted to the development of novel types of pneumatic soft robots in the last decades. This article aims to investigate the solutions to develop and research the pneumatic soft robot. This paper reviews the status and the main progress of the recent research on pneumatic soft robots. Furthermore, a discussion about the challenges and benefits of the recent advancement of the pneumatic soft robot is provided.
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HESSE, FRANK, and FLORENTIN WÖRGÖTTER. "A GOAL-ORIENTATION FRAMEWORK FOR SELF-ORGANIZING CONTROL." Advances in Complex Systems 16, no. 02n03 (May 2013): 1350002. http://dx.doi.org/10.1142/s0219525913500021.
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Self-organization, especially in the framework of embodiment in biologically inspired robots, allows the acquisition of behavioral primitives by autonomous robots themselves. However, it is an open question how self-organization of basic motor primitives and goal-orientation can be combined, which is a prerequisite for the usefulness of such systems. In the paper at hand we propose a goal-orientation framework allowing the combination of self-organization and goal-orientation for the control of autonomous robots in a mutually independent fashion. Self-organization based motor primitives are employed to achieve a given goal. This requires less initial knowledge about the properties of robot and environment and increases adaptivity of the overall system. A combination of self-organization and reward-based learning seems thus a promising route for the development of adaptive learning systems.