Article
Engineering, Electrical & Electronic
Luigi Tagliavini, Andrea Botta, Paride Cavallone, Luca Carbonari, Giuseppe Quaglia
Summary: The general and constant ageing of the world population has led robotics researchers to focus on healthcare, housing, care-giving, and social security. Researchers at Politecnico di Torino are developing a novel platform called Paquitop for omni-directional planar motion in various environments. The platform is designed to provide high dynamic performance and stability in every condition through a suspension system.
Article
Chemistry, Analytical
Isabel Sanchez Berriel, Fernando Perez Nava, Pablo Torres Albertos
Summary: This paper introduces LagunAR, a mobile outdoor Augmented Reality (AR) application that provides heritage information and 3D visualization on a city scale. The application utilizes geolocation to overlay a reconstructed 3D model of the city on the actual city, allowing users to explore historical information and points of interest. The paper discusses the design, implementation, and optimization techniques used in managing the city's information on a mobile phone. Usability studies, including heuristic tests and qualitative user tests, demonstrate the effectiveness of the real-time application in displaying the city-scale 3D model and managing points of interest.
Article
Computer Science, Cybernetics
Adolfo Ruiz-Calleja, Miguel L. Bote-Lorenzo, Juan I. Asensio-Perez, Sara L. Villagra-Sobrino, Victor Alonso-Prieto, Eduardo Gomez-Sanchez, Pablo Garcia-Zarza, Sergio Serrano-Iglesias, Guillermo Vega-Gorgojo
Summary: This study explores the feasibility of non-technical expert teachers repurposing a mobile application for formal Cultural Heritage ubiquitous learning situations. The results suggest that, after training, teachers can successfully design and orchestrate learning situations that involve both in-classroom and out-classroom activities, transferring the orchestration load to the students. The flow of learning artifacts and information between in- and out-classroom activities is identified as a critical issue to be addressed.
INTERNATIONAL JOURNAL OF HUMAN-COMPUTER STUDIES
(2023)
Article
Ethics
Mark Coeckelbergh
Summary: This paper explores the relationship between social robots and culture, and proposes the concept of creating an Ubuntu Robot. It also emphasizes the role of technology in addressing modern challenges and facilitating cultural change, highlighting the potential of robots in cultural dialogue and transforming our approach to tasks.
SCIENCE AND ENGINEERING ETHICS
(2022)
Article
Chemistry, Analytical
Chunyang Liu, Saibao Xie, Xin Sui, Yan Huang, Xiqiang Ma, Nan Guo, Fang Yang
Summary: This study improves the dynamic obstacle avoidance performance of PRM by using hierarchical planning and introducing D* method into the network construction and planning process of PRM. Simulation experiments and real-world validation demonstrate the advantages of our method in terms of static and dynamic planning speed, although the path length is slightly inferior to graph search methods.
Article
Agriculture, Multidisciplinary
Satyam Raikwar, Jens Fehrmann, Thomas Herlitzius
Summary: This paper proposes a stable navigational algorithm for an orchard robot based on model-based design. The algorithm uses inputs from wheel and steering encoders to translate driving coordinates and vehicle state into navigational commands. The algorithm is validated in both real and simulation environments.
COMPUTERS AND ELECTRONICS IN AGRICULTURE
(2022)
Article
Mathematics
Roland Szabo
Summary: In this study, a biped robot learns to walk using genetic algorithms, with the ability to rise after a fall. The system is designed based on human genetics, mimicking the process of a child learning to walk. The biped robot evolves with each generation, gradually achieving a more natural walking posture. The system is unpredictable, as the robot may evolve at different speeds, similar to the variation in human genetics. The robot is considered to have evolved enough when it can walk similarly to a human without falling.
Article
Computer Science, Artificial Intelligence
Dmitrii Dobriborsci, Roman Zashchitin, Mikhail Kakanov, Wolfgang Aumer, Pavel Osinenko
Summary: The application of reinforcement learning in mobile robotics faces challenges in real-world physical environments. This paper presents a local navigation approach for driving a robot without relying on an explicit map, using only laser scan measurements to detect obstacles. An algorithm called stacked Q-learning is proposed, which combines standard reinforcement learning techniques with model-based predictive agents. The results show that the stacked Q-learning algorithm outperforms classical model predictive control in terms of accumulated cost of parking the robot while avoiding obstacles.
JOURNAL OF INTELLIGENT MANUFACTURING
(2023)
Article
Chemistry, Analytical
Ash Wan Yaw Sang, Chee Gen Moo, S. M. Bhagya P. Samarakoon, M. A. Viraj J. Muthugala, Mohan Rajesh Elara
Summary: Autonomously operated robots are in high demand during viral outbreaks, particularly for cleaning high-risk areas such as walls in public spaces. The autonomous wall following ability achieved through a Fuzzy Logic System enhances the practicality and efficiency of wall cleaning robots.
Article
Chemistry, Analytical
Donatella Dragone, Francesca Federica Donadio, Chiara Mirabelli, Carlo Cosentino, Francesco Amato, Paolo Zaffino, Maria Francesca Spadea, Domenico La Torre, Alessio Merola
Summary: This work presents a minimally-invasive manipulator with hyper-redundant kinematics and embedded sensing modules. The robot tip's bending angles are controlled through tendon-driven actuation, and the actuation forces are transmitted using a Bowden-cable solution. The feasibility of real-time measurement of feedback control variables through optoelectronic acquisition is evaluated for automated bending and trajectory tracking.
Article
Computer Science, Artificial Intelligence
Paulo Rezeck, Hector Azpurua, Mauricio F. S. Correa, Luiz Chaimowicz
Summary: This paper presents a novel platform design for swarm robotics applications that is low cost and easy to assemble. The platform is deeply integrated with the widely used ROS framework and consists of a 3D printed body and open-source software. The functionality of the platform is evaluated through experiments, demonstrating its capability in performing different swarm tasks despite its small size and reduced cost, making it suitable for swarm robotics research and education.
Article
Chemistry, Multidisciplinary
Daniele Cafolla, Jorge E. Araque-Isidro, Marco Ceccarelli
Summary: Space robots are a promising solution for on-orbit servicing tasks, and various enabling techniques and missions have been developed in the past two decades. However, unmanned service missions have not been conducted yet, and robotic maintenance remains an important area of investigation with technical challenges. This report presents the design and preliminary testing of Torveastro, an astronaut service robot, showing promising results for future development.
APPLIED SCIENCES-BASEL
(2023)
Article
Computer Science, Information Systems
Roman Michalik, Ales Janota, Michal Gregor, Marian Hrubos
Summary: This paper discusses an approach for controlling a cooperating YuMi robot using hand gestures recognized by a camera and artificial intelligence through a TCP/IP connection with Python. The program can be enhanced by integrating other IoT devices for robot control and data collection for specific applications.
Article
Robotics
Yves Zimmermann, Jaeyong Song, Cedric Deguelle, Julia Laderach, Lingfei Zhou, Marco Hutter, Robert Riener, Peter Wolf
Summary: Exoskeleton robots have found applications in various areas such as neurorehabilitation, telemanipulation, and power augmentation. However, existing attachment concepts have imposed limitations on the performance of modern exoskeletons due to issues like insufficient stiffness, time-consuming adaption processes, and bulkiness. In this study, an augmented attachment system was proposed and compared to a conventional solution. The results showed that the proposed system significantly reduced the relative motion between the human and the robot, mitigated undesired contacts, and facilitated better alignment with the user's anatomy.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Robotics
Vaibhav Malviya, Rahul Kala
Summary: Robotic guides need to know the position of visitors at all times, but current tracking algorithms assume that the person will always be visible. However, in the case of robotic guides, a person's visibility can often be lost when the robot is navigating corners or making sharp turns. We propose a new algorithm that can track people for prolonged periods even when they are not visible. This algorithm uses a heuristic that the person will be following the robot and performs tracking in 3D using a monocular camera. Our approach outperforms other baseline methods in various indoor scenarios.
Article
Engineering, Multidisciplinary
Med Amine Laribi, Marco Ceccarelli, Juan Sandoval, Matteo Bottin, Giulio Rosati
Summary: This paper presents a new design of CADEL, a cable-driven elbow-assisting device, which is lighter and has improved controls. The new design is more portable and user-oriented, providing additional features compared to the original design. The improved portability allows for rehabilitation treatments in homes and hospitals while maintaining social distancing during a pandemic. The main mechatronic components were designed with specific kinematics models, and the design process included the implementation of specific control hardware and software. The kinematic model of the new design was formulated and evaluated through numerical simulations and experimental tests. A comparison with the original design highlights improvements in terms of comfort, portability, and user-oriented operation.
JOURNAL OF BIONIC ENGINEERING
(2022)
Article
Robotics
Matteo Russo, Marco Ceccarelli
Summary: This paper proposes a geometric formulation to describe the workspace of parallel manipulators, obtaining the workspace volume and boundary for each limb with an algebraic formulation. The overall workspace is determined as the intersection of the limb workspaces, and an algebraic formulation for including obstacles in the computation is also discussed. Analytical models and numerical simulations are reported with an example illustrating the feasibility and efficiency of the proposed formulation on a 3-SPR parallel mechanism.
Article
Chemistry, Analytical
Marco Ceccarelli, Riccardo Taje, Paula Elena Papuc, Vincenzo Ambrogi
Summary: This paper examines the problem of respiration monitoring with easily wearable instrumentation and validates the smart device and procedure through practical implementation and experimental tests.
Article
Chemistry, Multidisciplinary
Alexander Titov, Matteo Russo, Marco Ceccarelli
Summary: The paper elaborates on the improved solution of L-CaPaMan design, presenting a new prototype as a result of design improvements with new components and structural features. The construction and testing of the prototype are discussed to outline the operation performance of L-CaPaMan using Arduino controller and basic sensors for motion and action monitoring.
APPLIED SCIENCES-BASEL
(2022)
Article
Engineering, Mechanical
Adithya Prakash Damarla, Matteo Russo, Marco Ceccarelli
Summary: This paper presents a control strategy for a two-degree-of-freedom linkage finger exoskeleton mechanism. The performance of the proposed finger motion assistance device is evaluated using a replica of a human finger and grasp tests. A feasible control design is developed and validated with simulated and experimental results, showing its ability to maintain a stable grasp on objects.
Editorial Material
Robotics
Daniele Cafolla, Francesco Calimeri, Huiping Cao, Matteo Russo, Dominique Sappey-Marinier, Paolo Zaffino
FRONTIERS IN ROBOTICS AND AI
(2022)
Article
Automation & Control Systems
Josue Israel Camacho-Arreguin, Mingfeng Wang, Matteo Russo, Xin Dong, Dragos Axinte
Summary: This article presents a parallel reconfigurable walking machine tool that overcomes the limitations of conventional PKMs by adapting its configuration and gaits to different scenarios. It introduces a lightweight and compact positioning system with shape memory alloy actuation and determines the optimal walking gaits through kinematic, stability, and force analyses. The proposed models are validated through experiments with a physical prototype.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Chemistry, Multidisciplinary
Daniele Cafolla, Jorge E. Araque-Isidro, Marco Ceccarelli
Summary: Space robots are a promising solution for on-orbit servicing tasks, and various enabling techniques and missions have been developed in the past two decades. However, unmanned service missions have not been conducted yet, and robotic maintenance remains an important area of investigation with technical challenges. This report presents the design and preliminary testing of Torveastro, an astronaut service robot, showing promising results for future development.
APPLIED SCIENCES-BASEL
(2023)
Review
Robotics
Matteo Russo
Summary: The evaluation of a robot's performance faces three challenges: defining performance based on observable behavior, quantifying performance using obtainable indices that represent the measured quantity, and ensuring a repeatable and general procedure for performance comparisons and standards. However, the current landscape of performance metrics for industrial robots lacks a unified framework, with fragmented efforts and limited adoption of new performance indices. This survey collects and analyzes key works in mechanical performance metrics for industrial robots, highlighting the shortcomings of both commercial and academic approaches, and providing insights for future research directions.
Article
Robotics
Jorge Barrientos-Diez, Matteo Russo, Xin Dong, Dragos Axinte, James Kell
Summary: This paper expands the design space of continuum robots by introducing asymmetries, which affect robot behavior and provide a task-oriented design framework. The theoretical results are validated on a prototype with an automatically-generated asymmetric design, demonstrating its effectiveness in navigating through an inaccessible environment.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Engineering, Multidisciplinary
Matteo Russo, Elie Gautreau, Xavier Bonnet, Med Amine Laribi
Summary: This paper discusses the limitations of conventional performance metrics for continuum robots and proposes a new framework that combines geometric specifications with kinetostatic indicators to assess their performance. An example of a swimming snake robot is provided to demonstrate the application of the proposed framework.
Article
Automation & Control Systems
David Alatorre Troncoso, Jose A. Robles-Linares, Matteo Russo, Mohamed A. Elbanna, Samuel Wild, Xin Dong, Abdelkhalick Mohammad, James Kell, Andy D. Norton, Dragos Axinte
Summary: The maintenance of critical industrial components is often hindered by limited access and complex geometries. To overcome these limitations, a modular design with active shape control is proposed, which enables better inspection and repair opportunities.
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2023)
Article
Automation & Control Systems
Hongshen Shi, Matteo Russo, Juan de la Torre, Abdelkhalick Mohammad, Xin Dong, Dragos Axinte
Summary: Haptic control interfaces can provide remote feedback by extracting force data from sound signals, which is significant in highly constrained environments and systems.
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2023)
Article
Chemistry, Multidisciplinary
Marco Ceccarelli, Manuel D'Onofrio, Vincenzo Ambrogi, Matteo Russo
Summary: This paper focuses on early diagnosis of respiratory disorders by measuring ribcage motion. A numerical evaluation of respiration biomechanics is obtained through acquisition of sixth rib kinematics. The results of an experimental campaign using a RESPIRholter prototype on healthy volunteers and chest-operated patients are reported. Data from repeated acquisitions are statistically processed to analyze angular motion and linear acceleration, which can be used for characterizing and classifying respiration motion. This experimental campaign is a first step towards constructing a diagnostic reference database, as demonstrated by the case study.
APPLIED SCIENCES-BASEL
(2023)
Review
Automation & Control Systems
Matteo Russo, Seyed Mohammad Hadi Sadati, Xin Dong, Abdelkhalick Mohammad, Ian D. D. Walker, Christos Bergeles, Kai Xu, Dragos A. A. Axinte
Summary: This article discusses recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots. Thanks to their slender bodies, these robots achieve a long reach through narrow and tortuous environments, enabling tasks that were previously unachievable for medical, industrial, and service applications. The increasing research on continuum robots has led to significant progress in design, modeling, and control methods. The article provides a comprehensive review of existing continuum robots and emerging technologies, compares modeling and control approaches, and examines unique navigation strategies exclusive to continuum robots such as follow the leader, coiling, and circumnutation. Finally, an overview of their applications with a focus on industrial and service tasks is provided, outlining open research challenges and future developments.
ADVANCED INTELLIGENT SYSTEMS
(2023)
