Article
Chemistry, Multidisciplinary
Jaehoon Sim, Seungyeon Kim, Suhan Park, Sanghyun Kim, Mingon Kim, Jaeheung Park
Summary: The JET humanoid robot, developed based on the THORMANG platform, aims to be applied in industrial and service fields by increasing height, reducing weight, and expanding workspace. The simplification of maintenance process and experiments conducted validate the practicality of the design concepts.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Electrical & Electronic
Ping-Huan Kuo, Chieh-Hsiu Pao, En-Yi Chang, Her-Terng Yau
Summary: In this study, reinforcement learning was used to train humanoid robots to adapt to uneven terrains and automatically adjust their parameters for optimal gait pattern control. The results showed that proximal policy optimization (PPO), combining advantage actor-critic and trust region policy optimization, was the most suitable method. An improved version of PPO, called PPO2, was used in combination with data preprocessing methods such as wavelet transform and fuzzification, which improved the gait pattern control and balance of humanoid robots.
INTERNATIONAL JOURNAL OF OPTOMECHATRONICS
(2023)
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
Multidisciplinary Sciences
Prabhat Pathak, Jeongin Moon, Se-Gon Roh, Changhyun Roh, Youngbo Shim, Jooeun Ahn
Summary: This study used shoes embedded with active vibrating insoles to reduce the variability of toe clearance during gait by applying appropriate intensity of vibration. The results of the experiment showed that continuous vibration significantly reduced the variability of toe clearance.
Article
Acoustics
Bintian Lin, Stana Zivanovic, Sigong Zhang, Qingwen Zhang, Feng Fan
Summary: This study evaluates the suitability of SLIP model and its upgrades for modeling pedestrians in civil engineering applications. Equations for four SLIP-based models in Cartesian coordinates are derived and presented in ready-to-use format. The stable periodic gait parameter space is identified and relevant gait parameters are evaluated against measured parameter space of pedestrian population. Results show that the original SLIP model has drawbacks, but adding roller feet and damping bring improvements in walking speed and coverage of parameter space, respectively. Dimensional analysis is useful for modeling pedestrians with different body mass or leg length.
JOURNAL OF SOUND AND VIBRATION
(2023)
Article
Computer Science, Artificial Intelligence
Ping-Huan Kuo, Wei-Cyuan Yang, Po-Wei Hsu, Kuan-Lin Chen
Summary: With the development of technology, robots have replaced humans in various fields. Allowing robots to handle multiple situations and perform different actions autonomously has become a critical topic. This study used a proximal policy optimization algorithm to enable a robot to conduct self-training and select an optimal gait pattern. Experimental results demonstrated that the robot successfully made different choices depending on the situation, confirming the feasibility of this approach.
ADVANCED ENGINEERING INFORMATICS
(2023)
Article
Computer Science, Information Systems
Vijay Bhaskar Semwal, Rahul Jain, Pushkar Maheshwari, Saksham Khatwani
Summary: In this study, four deep learning models were compared for their ability to generate personalized gait trajectories at different walking speeds. The proposed LSTM-CNN sequential model was able to generate stable gait trajectories in the speed range of 0.49-1.76 m/s with a high correlation of 0.98 between the actual and predicted trajectories, and an R-2 Score of 0.94 was obtained. This work can be utilized for providing personalized gait reference trajectories for rehabilitation systems and generating stable walking trajectories for bipedal robots.
MULTIMEDIA TOOLS AND APPLICATIONS
(2023)
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
Chemistry, Analytical
Sanguk Choi, Chanyoung Ko, Kyoungchul Kong
Summary: This paper introduces a Gait Phase Estimation Module (GPEM) and its real-time algorithm designed to estimate gait phases continuously and monotonically across a range of walking speeds and accelerations/decelerations. The proposed method offers smooth, continuous, and repetitive gait phase estimation when compared to conventional approaches.
Article
Automation & Control Systems
Arthicha Srisuchinnawong, Kitti Phongaksorn, Wasuthorn Ausrivong, Poramate Manoonpong
Summary: This work presents a novel adaptive bipedal robot and neural multimodal locomotion control for semiautonomous robotic out-pipe inspection. The robot can balance on curved surfaces, climb pipes with limited energy, overcome obstacles, and perform stable transitions between pipe segments. It achieves 100% successful locomotion on horizontal and vertical smooth pipes, with a speed of 10.24 cm/s and a cost of transport of 26.3 J/kgm, showing over 200% improvement in speed and energy efficiency compared to existing legged inspection robots.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Multidisciplinary
Yang Chen, John E. Grezmak, Nicole M. Graf, Kathryn A. Daltorio
Summary: This paper investigates the selection of gaits for hexapod robots, comparing forward walking with crab-like sideways walking. The results show that sideways walking performs better in terms of speed and energy cost, supporting the development of sideways walking robots for future applications.
BIOINSPIRATION & BIOMIMETICS
(2022)
Article
Chemistry, Analytical
Zhao Zhang, Lei Zhang, Shan Xin, Ning Xiao, Xiaoyan Wen
Summary: An improved model predictive control (MPC) method based on the divergent components of motion (DCM) is proposed in order to enable humanoid robots to walk robustly in the presence of interference. The method simplifies the robot model and plans the gait based on DCM, allowing the center of mass (CoM) to converge to the DCM and simplifying the feedback control process. The proposed MPC controller incorporates an extended Kalman filter (EKF) to track the desired DCM trajectory and compensate for CoM trajectory errors caused by disturbances. Simulation results show improvements compared to the traditional method in both disturbed walking and uneven-terrain walking.
Article
Robotics
Prokopios Antonellis, Arash Mohammadzadeh Gonabadi, Sara A. Myers, Iraklis I. Pipinos, Philippe Malcolm
Summary: By applying a constant forward force, the metabolic rate of walking can be reduced. Selectively assisting propulsion may lead to greater benefits. A model explains the mechanism of optimal force extension.
Article
Automation & Control Systems
Habib Mohamad, Sadjaad Ozgoli
Summary: The development of lower limb exoskeletons has attracted significant interest recently, with two types being commonly used for gait rehabilitation and human locomotion assistance. However, there are still challenges in trajectory generation for online controlling of the exoskeleton, especially considering human intention and specific conditions. In this paper, an online gait generation method is proposed, utilizing three trajectory generator blocks for different phases of walking. The performance analysis and simulations demonstrate the effectiveness of these trajectory generator blocks, which were further validated through experimental tests on a healthy subject using the Exoped(R) exoskeleton in various scenarios.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2023)
Article
Automation & Control Systems
Karim Bouyarmane, Abderrahmane Kheddar
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2018)
Article
Automation & Control Systems
Tu-Hoa Pham, Stephane Caron, Abderrahmane Kheddar
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2018)
Article
Robotics
Herve Audren, Abderrahmane Kheddar
IEEE TRANSACTIONS ON ROBOTICS
(2018)
Article
Robotics
Karim Bouyarmane, Kevin Chappellet, Joris Vaillant, Abderrahmane Kheddar
IEEE TRANSACTIONS ON ROBOTICS
(2019)
Article
Robotics
Don Joven Agravante, Andrea Cherubini, Alexander Sherikov, Pierre-Brice Wieber, Abderrahmane Kheddar
IEEE TRANSACTIONS ON ROBOTICS
(2019)
Article
Automation & Control Systems
Abderrahmane Kheddar, Stephane Caron, Pierre Gergondet, Andrew Comport, Arnaud Tanguy, Christian Ott, Bernd Henze, George Mesesan, Johannes Englsberger, Maximo A. Roa, Pierre-Brice Wieber, Francois Chaumette, Fabien Spindler, Giuseppe Oriolo, Leonardo Lanari, Adrien Escande, Kevin Chappellet, Fumio Kanehiro, Patrice Rabate
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2019)
Editorial Material
Robotics
Qiang Huang, Fumio Kanehiro, Tamim Asfour, Abderrahmane Kheddar, Zhuangguo Yu
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
(2020)
Editorial Material
Robotics
Qiang Huang, Fumio Kanehiro, Tamim Asfour, Abderrahmane Kheddar, Zhangguo Yu
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
(2020)
Article
Robotics
Mohamed Djeha, Arnaud Tanguy, Abderrahmane Kheddar
IEEE ROBOTICS AND AUTOMATION LETTERS
(2020)
Proceedings Paper
Automation & Control Systems
Saeid Samadi, Stephane Caron, Arnaud Tanguy, Abderrahmane Kheddar
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2020)
Proceedings Paper
Computer Science, Artificial Intelligence
Anastasia Bolotnikova, Sebastien Courtois, Abderrahmane Kheddar
2020 29TH IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN)
(2020)
Article
Robotics
Anastasia Bolotnikova, Sebastien Courtois, Abderrahmane Kheddar
IEEE ROBOTICS AND AUTOMATION LETTERS
(2020)
Proceedings Paper
Computer Science, Artificial Intelligence
Takahiro Ito, Ko Ayusawa, Eiichi Yoshida, Abderrahmane Kheddar
2019 IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO)
(2019)
Proceedings Paper
Automation & Control Systems
Arnaud Tanguy, Daniele De Simone, Andrew I. Comport, Giuseppe Oriolo, Abderrahmane Kheddar
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2019)
Proceedings Paper
Automation & Control Systems
Adrien Pajon, Pierre-Brice Wieber
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2019)
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)
