Article
Robotics
Yisoo Lee, Hosang Lee, Jinoh Lee, Jaeheung Park
Summary: The study develops an event-based finite-state machine (E-FSM) to enhance reactivity of biped robots to unforeseen disturbances for robust walking. The proposed control method ensures stable locomotion under external disturbances, as validated through experiments.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Automation & Control Systems
Qingqing Li, Fei Meng, Zhangguo Yu, Xuechao Chen, Qiang Huang
Summary: This article presents a dynamic torso compliance method for position-controlled humanoid robots to adapt to unknown external disturbances while standing or walking. The method comprises two independent controllers to achieve compliant behavior and maintain balance, allowing the robot to perform dynamic torso compliance while standing or walking in complex environments.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Robotics
Fabio Bergonti, Gabriele Nava, Luca Fiorio, Giuseppe L'Erario, Daniele Pucci
Summary: This article introduces a method for robotic covers to change shape, utilizing genetic algorithms for motor positioning and control algorithms for shape transformation. The effectiveness of the method is validated through kinematic simulations.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Engineering, Electrical & Electronic
Aiwen Luo, Sandip Bhattacharya, Sunandan Dutta, Yoshihiro Ochi, Mitiko Miura-Mattausch, Jian Weng, Yicong Zhou, Hans J. Mattausch
Summary: The study aims to implement surface recognition through walking-pattern classification using a support vector machine (SVM) and time-domain feature descriptors. By extracting real-time dynamic force-sensing data streams and applying multiple binary SVM classifiers, the developed cost-efficient and accurate surface-recognition system is valuable for ensuring safe indoor locomotion for biped robots and enhancing their understanding of the human living environment.
IEEE SENSORS JOURNAL
(2021)
Article
Automation & Control Systems
Yun-Ho Han, Baek-Kyu Cho
Summary: This paper proposes a new algorithm for humanoid robots to walk on a slope, addressing the challenge of achieving stable biped walking without using an IMU sensor in complex environments. The algorithm includes a slope observer that estimates the robot's angle, angular velocity, and slope angle, as well as a controller for posture control and stabilization. Experimental results validate the effectiveness of the proposed approach.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2022)
Article
Automation & Control Systems
Jaesung Oh, Okkee Sim, Buyoun Cho, KangKyu Lee, Jun-Ho Oh
Summary: This article proposes a delayed reference generation method for a humanoid to stably imitate human walking. Teleoperation experiments using a data acquisition device and the HUBO2+ humanoid platform confirmed the effectiveness of the method in allowing the robot to imitate human footsteps stably under either static or dynamic walking conditions.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Engineering, Multidisciplinary
N. M. Graf, J. E. Grezmak, K. A. Daltorio
Summary: In this study, inward gripping motions were added to the foot trajectories of a crab-like robot, and two gaits were compared for energetic costs and speed. The results showed that the quadrilateral gait with inward gripping significantly outperformed the triangular gait on different terrains, providing energy savings. Additionally, both gaits enabled the robot to walk undisturbed by lab-generated waves.
BIOINSPIRATION & BIOMIMETICS
(2022)
Article
Education & Educational Research
Christina Chalmers, Therese Keane, Marie Boden, Monica Williams
Summary: This three-year study explores teachers' perceptions of humanoid robots and finds that their deployment in education can enhance student engagement. The study advocates for a constructivist approach to using humanoid robots in the curriculum.
EDUCATION AND INFORMATION TECHNOLOGIES
(2022)
Article
Robotics
Mathieu Hobon, Victor De-Leon-Gomez, Gabriel Abba, Yannick Aoustin, Christine Chevallereau
Summary: The study aims to define the feasible speed range for two walking motions of a particular planar biped robot, revealing that the first gait is more energy-efficient at moderate to fast velocities, while the second gait is more efficient at low walking speeds. The results were obtained through numerical calculations and a parametric optimization algorithm.
Article
Automation & Control Systems
Chengju Liu, Tong Zhang, Changzhu Zhang, Ming Liu, Qijun Chen
Summary: An online foot position compensator (FPC) is proposed in this paper to enhance the robustness of humanoid walking, based on orbital energy conservation and discrete control Lyapunov function (DCLF), aiming to maintain the asymptotic stability of the humanoid system through improved foot placement control. Additionally, a strategy of upper body posture control is suggested to further enhance the robustness of humanoid robots against strong external disturbances, stabilizing the robot by modulating the upper body posture online using hip joints. The effectiveness of the proposed methods is verified through Webots simulations and real experiments on a full-body NAO humanoid robot.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Robotics
Nelson Rosa, Kevin M. Lynch
Summary: This article introduces a topological method for generating families of walking gaits for underactuated biped walkers, utilizing implicitly defined feasible periodic gaits within a state-time-control space. Equilibria are used as reliable templates for constructing gait families on several 2-D and 3-D biped walkers.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Robotics
Kourosh Darvish, Luigi Penco, Joao Ramos, Rafael Cisneros, Jerry Pratt, Eiichi Yoshida, Serena Ivaldi, Daniele Pucci
Summary: Teleoperation of humanoid robots combines the cognitive skills and expertise of humans with the physical capabilities of robots. Humanoid robots are highly versatile for remote operations in various applications. However, the complexity of humanoid robots poses challenges for teleoperation, especially in unstructured dynamic environments with limited communication. Despite advancements in this field, a comprehensive overview is still lacking. This survey article provides an extensive overview of humanoid robot teleoperation, including the system architecture and analysis of different components. Technological and methodological advances, as well as potential applications, are also discussed.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Engineering, Electrical & Electronic
Luis Almeida, Vitor Santos, Joao P. Ferreira
Summary: This study presents a technique for real-time classification of floor types based on contact force data and robot inertial sensor information, achieving a classification accuracy of over 92%. Through testing different learning models and tuning parameters, a good mapping between inputs and targets is achieved, demonstrating the suitability of the proposed approach for the multi-classification problem addressed.
IEEE SENSORS JOURNAL
(2021)
Article
Engineering, Mechanical
Masoumeh Safartoobi, Morteza Dardel, Hamidreza Mohammadi Daniali
Summary: This paper presents the application of an internal damping mechanism to the mathematical description of the simplest passive walking model, making walking natural and efficient. By using viscoelastic legs and precise boundary conditions, the biped starts walking from a stable condition and exhibits stable period-one gait cycles. Numerical simulations demonstrate that the overall effect of viscoelastic legs on passive walking is efficient in terms of stability and energy dissipation.
NONLINEAR DYNAMICS
(2022)
Article
Chemistry, Analytical
Long Li, Zhongqu Xie, Xiang Luo, Juanjuan Li
Summary: This study introduces a linear pendulum model (LPM) for the double support phase (DSP) to address the walking stability issue caused by the neglect of DSP in the LIPM model. Additionally, various trajectory-planning methods for different scenarios are proposed to allow the biped robot to maintain stability while planning trajectories in real time.
Article
Computer Science, Interdisciplinary Applications
Angel Sanchez-Diaz, Ulises Zaldivar-Colado, J. Alfonso Pamanes-Garcia, Xiomara Zaldivar-Colado
INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING
(2019)
Article
Engineering, Multidisciplinary
M. Langard, Ph. Lucidarme, N. Delanoue, R. Guyonneau, F. Mercier, C. Chevallereau, Ph. Wenger, Y. Aoustin
Summary: The choice of actuation is crucial for designing a bipedal robot, and electric direct-drive linear motors show promise due to their ability to replicate the human muscle system and provide natural backdrivability. However, their efficiency depends on parameters such as elongation and attachment points. The ROBIBIO project aims to utilize electric direct-drive linear motors in a planar bipedal robot, with the help of a simulator and numerical optimization to determine the best motor placement.
MATHEMATICAL PROBLEMS IN ENGINEERING
(2022)
Proceedings Paper
Automation & Control Systems
Daniel R. D. Soto, J. Alfonso G. Pamanes
Summary: The goal of this study is to compare the performances of the Fanuc Arc Mate 100iC robotic manipulator achieved by both the current design and an improved design during task execution, and the results showed that the improved design provided more efficient postures.
PROCEEDINGS OF THE 2022 XXIV ROBOTICS MEXICAN CONGRESS (COMROB)
(2022)
Article
Computer Science, Information Systems
Efrain Solares, Francisco G. Salas, Victor De-Leon-Gomez, Raymundo Diaz
Summary: Researchers propose a soft computing-based approach that models expert knowledge using fuzzy logic to help investors discard unsuitable stocks, thereby improving the performance of the final stock portfolio.
Proceedings Paper
Automation & Control Systems
Daniel R. D. Soto, J. Alfonso G. Pamanes
Summary: The study evaluates the effectiveness of two performance indices for measuring the ability of industrial robots to convert joint-rates into end-effector motion. The results indicate that one method is based on the characteristic length of the manipulator, while the other utilizes the inertial parameters of the end-effector.
PROCEEDINGS OF THE 2021 XXIII ROBOTICS MEXICAN CONGRESS (COMROB)
(2021)
Proceedings Paper
Automation & Control Systems
Oscar I. J. Santellano, J. Alfonso G. Pamanes, Julio C. C. Rodriguez, J. Jesus G. Pamanes
Summary: This paper explores the simultaneous motion of a robot and a positioner table for applying welding seams on a workpiece. By optimizing the kinematic performance of the robot, the overall performance of the manufacturing system is enhanced.
PROCEEDINGS OF THE 2021 XXIII ROBOTICS MEXICAN CONGRESS (COMROB)
(2021)
Proceedings Paper
Automation & Control Systems
Jesus E. Fierro, J. Alfonso Pamanes, J. Alejandro Aquino, E. Javier Ollervides
Summary: This paper proposes a general and simplified formulation for obtaining a cycloidal walking pattern for a humanoid robot, addressing the issue of maintaining balance while walking on a sloping plane. Simulations demonstrate the effectiveness of the proposed approach for various study cases.
PROCEEDINGS OF THE 2021 XXIII ROBOTICS MEXICAN CONGRESS (COMROB)
(2021)
Article
Mathematics, Applied
Roberto Pena Luna, Gregorio Garza Rodriguez, Liliana Angelica Guerrero Ramos, Rafael Alejandro Espin Andrade, Sandra Rodriguez Figueredo, Victor de-Leon-Gomez
Summary: This paper discusses the importance of human capital management and proposes an intelligent talent detection method based on fuzzy logic and business analysis. This method can evaluate the importance of competencies, identify employee competency levels, and hierarchize competencies for selection, aiding in recruitment plans.
Article
Mathematics, Applied
Efrain Solares, Liliana Guerrero, Alberto Aguilera, Juana Maria Hernandez, Sandra Rodriguez, Victor De-Leon-Gomez
Summary: This paper introduces a novel approach using an intelligent decision support system to search for the best time allocation for managers, optimized through differential evolution. The method can handle multiple activities, group decisions, and various uncertainties, and is evaluated through a real case study and managers' satisfaction levels.
Proceedings Paper
Engineering, Mechanical
Matthieu Furet, Anders van Riesen, Christine Chevallereau, Philippe Wenger
PROCEEDINGS OF THE 7TH EUROPEAN CONFERENCE ON MECHANISM SCIENCE, EUCOMES 2018
(2019)
Proceedings Paper
Robotics
J. A. Pamanes, H. A. Moreno
MECHANISM DESIGN FOR ROBOTICS
(2019)
Proceedings Paper
Robotics
Jesus De Anda, J. Alfonso Pamanes, Javier Ollervides
2018 XX CONGRESO MEXICANO DE ROBOTICA (COMROB)
(2018)
Article
Automation & Control Systems
Runwei Guan, Shanliang Yao, Lulu Liu, Xiaohui Zhu, Ka Lok Man, Yong Yue, Jeremy Smith, Eng Gee, Yutao Yue
Summary: With the development of Unmanned Surface Vehicles (USVs), the perception of inland waterways has become significant. Traditional RGB cameras cannot work effectively in adverse weather and at night, which has led to the emergence of 4D millimeter-wave radar as a new perception sensor. However, the radar suffers from water-surface clutter and irregular shape of point cloud. To address these issues, this paper proposes a high-performance panoptic perception model called Mask-VRDet, which fuses features of vision and radar using graph neural network.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Adrien Le Reun, Kevin Subrin, Anthony Dubois, Sebastien Garnier
Summary: This study aims to evaluate the quality and health of aerospace parts using a high-dimensional robotic cell. By utilizing X-ray Computed Tomography devices, the interior of the parts can be reconstructed and anomalies can be detected. A methodology is proposed to assess both the raw process capability and the improved process capability, with three strategies developed to improve the robot behavior model and calibration.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Weiming Ba, Jung-Che Chang, Jing Liu, Xi Wang, Xin Dong, Dragos Axinte
Summary: This paper proposes a hybrid scheme for kinematic control of continuum robots, which avoids errors through tension supervision and accurate piecewise linear approximation. The effectiveness of the controller is verified on different continuum robotic systems.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Gabriele Abbate, Alessandro Giusti, Viktor Schmuck, Oya Celiktutan, Antonio Paolillo
Summary: In this study, a learning-based approach is proposed to predict the probability of human users interacting with a robot before the interaction begins. By considering the pose and motion of the user, the approach labels the robot's encounters with humans in a self-supervised manner. The method is validated and deployed in various scenarios, achieving high accuracy in predicting user intentions to interact with the robot.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Tiago Cortinhal, Eren Erdal Aksoy
Summary: This work presents a new depth-and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation between LiDAR and camera sensors. The model is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments, and it has practical applications in fields like autonomous vehicles.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Marios Krestenitis, Emmanuel K. Raptis, Athanasios Ch. Kapoutsis, Konstantinos Ioannidis, Elias B. Kosmatopoulos, Stefanos Vrochidis
Summary: This paper addresses the issue of informative path planning for a UAV used in precision agriculture. By using a non-uniform scanning approach, the time spent in areas with minimal value is reduced, while maintaining high precision in information-dense regions. A novel active sensing and deep learning-based coverage path planning approach is proposed, which adjusts the UAV's speed based on the quantity and confidence level of identified plant classes.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shota Kokubu, Pablo E. Tortos Vinocour, Wenwei Yu
Summary: In this study, a new modular soft actuator was proposed to improve the support performance of soft rehabilitation gloves (SRGs). Objective evaluations and clinical tests were conducted to demonstrate the effectiveness and functionality of the proposed actuator and SRG.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Jinliang Zhu, Yuanxi Sun, Jie Xiong, Yiyang Liu, Jia Zheng, Long Bai
Summary: This paper proposes an active prosthetic knee joint with a variable stiffness parallel elastic actuation mechanism. Numerical verifications and practical experiments demonstrate that the mechanism can reduce torque and power, thus reducing energy consumption and improving the endurance of the prosthetic knee joint.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Yong You, Jingtao Wu, Yunlong Meng, Dongye Sun, Datong Qin
Summary: A new power-cycling variable transmission (PCVT) is proposed and applied to construction vehicles to improve transmission efficiency. A shift correction strategy is developed based on identifying the changes in construction vehicles' mass and gradient. Simulation results show that the proposed method can correct shift points, improve operation efficiency, and ensure a safer operation process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shaorui Liu, Wei Tian, Jianxin Shen, Bo Li, Pengcheng Li
Summary: This paper proposes a two-objective optimization technique for multi-robot systems, addressing the issue of balancing productivity and machining performance in high-quality machining tasks.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pengchao Ding, Faben Zhu, Hongbiao Zhu, Gongcheng Wang, Hua Bai, Han Wang, Dongmei Wu, Zhijiang Du, Weidong Wang
Summary: We propose an autonomous approaching scheme for mobile robot traversing obstacle stairwells, which overcomes the restricted field of vision caused by obstacles. The scheme includes stair localization, structural parameter estimation, and optimization of the approaching process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pedro Azevedo, Vitor Santos
Summary: Accurate detection and tracking of vulnerable road users and traffic objects are vital tasks for autonomous driving and driving assistance systems. This paper proposes a solution for object detection and tracking in an autonomous driving scenario, comparing different object detectors and exploring the deployment on edge devices. The effectiveness of DeepStream technology and different object trackers is assessed using the KITTI tracking dataset.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
Summary: Powered exoskeletons can significantly reduce physical workload and have great potential impact on future labor practices. To truly assist users in achieving task goals, a shared autonomy control framework is proposed to separate the control objectives of the human and exoskeleton. Positive Power control is introduced for the human-based controller, while 'acceptance' is used as a measure of matching the exoskeleton's control objective to the human's. Both control objectives are implemented in an optimization-based Whole-Body-Control structure. The results verify the effectiveness of the control framework and its potential for improving cooperative control for powered exoskeletons.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
