scholarly journals Special Issue on Wearable Robotics: Dynamics, Control and Applications

Robotica ◽  
2019 ◽  
Vol 37 (12) ◽  
pp. 2011-2013
Author(s):  
Qining Wang ◽  
Nicola Vitiello ◽  
Samer Mohammed ◽  
Sunil Agrawal
Keyword(s):  
Real World ◽  
Human Motion ◽  
Robotic Systems ◽  
Loop Optimization ◽  
Human In The Loop ◽  
Wearable Robots ◽  
Real World Applications ◽  
Robot Systems ◽  
And Control ◽  
Human Robot Interfaces

While initially conceived for human motion augmentation, wearable robots have gradually evolved as technological aids in motion assistance and rehabilitation. There are increasing real-world applications in industrial and medical scenarios. Though efforts have been made on wearable robotic systems, e.g. robotic prostheses and exoskeletons, there are still several challenges in kinematics and actuation solutions, dynamic analysis and control of human-robot systems, neuro-control and human-robot interfaces; ergonomics and human-in-the-loop optimization. Meanwhile, real-world applications in industrial or medical scenarios are facing difficulties considering effectiveness.

Tools to Assist Teaching and Learning of Mechanisms, Robotics, and Biomechanics

2010 ◽  
Author(s):  
Robert L. Williams
Keyword(s):  
Real World ◽  
Teaching And Learning ◽  
Human Motion ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Ohio University ◽  
Internet Resources ◽  
Real World Applications ◽  
Dynamics And Control ◽  
And Control

This paper details some innovations developed at Ohio University for augmenting the teaching and learning of mechanism kinematics and dynamics, robot kinematics, dynamics, and control, and the musculoskeletal biomechanics of human motion. Common to all three courses are NotesBooks, significant MATLAB use in class, homework, and projects, term projects simulated from real-world applications, and Internet resources developed and hosted by the author at Ohio University.

Herstellerneutrale Programmierung von Robotern*/Manufacturer-independent programming of robots - A software architecture concept for controlling and programming heterogeneous robotic systems

2017 ◽  
Vol 107 (09) ◽  
pp. 594-599
Author(s):  
A. Magaña ◽  
G. Prof. Reinhart
Keyword(s):  
Software Architecture ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Key Technology ◽  
Robot Systems ◽  
And Control

Industrieroboter sind zu einer Schlüsseltechnologie in der Produktion geworden. Mit dem steigenden Einsatz von diversen Robotersystemen wächst das Bedürfnis, deren Kompatibilität zu steigern. Heutzutage gibt es keine Technologie in der Industrie, die eine standardisierte Programmierung und Steuerung von verschiedenen Robotersystemen gewährleisten kann. Dieser Fachbeitrag präsentiert ein einheitliches Konzept, welches die Anwendung von herstellerneutralen Roboterapplikationen ermöglicht.   Industrial robots have become a key technology in production. The increasing use of various robotic systems, raises the need to enhance their compatibilit.y Nowadays, there is no technology in the industry to guarantee a standardized programming and control of different robot systems. This article presents a concept enabling the use of manufacturer-independent robot applications.

scholarly journals Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
S. Sankhar Reddy Chennareddy ◽  
Anita Agrawal ◽  
Anupama Karuppiah
Keyword(s):  
Real World ◽  
Consumer Products ◽  
Robotic Systems ◽  
Modular Robots ◽  
Self Healing ◽  
Utilization Factor ◽  
The Past ◽  
Reconfigurable Robots ◽  
Real World Applications ◽  
Hardware Architectures

Modular self-reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. The higher utilization factor and self-healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional robotics. The researchers in robotics domain identified various applications and prototyped numerous robotic models while addressing constraints such as homogeneity, reconfigurability, form factor, and power consumption. The diversified nature of various modular robotic solutions proposed for real world applications and utilization of different sensor and actuator interfacing techniques along with physical model optimizations presents implicit challenges to researchers while identifying and visualizing the merits/demerits of various approaches to a solution. This paper attempts to simplify the comparison of various hardware prototypes by providing a brief study on hardware architectures of modular robots capable of self-healing and reconfiguration along with design techniques adopted in modeling robots, interfacing technologies, and so forth over the past 25 years.

scholarly journals An Introduction to Swarm Robotics

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Iñaki Navarro ◽  
Fernando Matía
Keyword(s):  
Social Insects ◽  
Real World ◽  
Swarm Robotics ◽  
Experimental Results ◽  
Robotic Systems ◽  
Complex Tasks ◽  
Real World Applications ◽  
The Future

Swarm robotics is a field of multi-robotics in which large number of robots are coordinated in a distributed and decentralised way. It is based on the use of local rules, and simple robots compared to the complexity of the task to achieve, and inspired by social insects. Large number of simple robots can perform complex tasks in a more efficient way than a single robot, giving robustness and flexibility to the group. In this article, an overview of swarm robotics is given, describing its main properties and characteristics and comparing it to general multi-robotic systems. A review of different research works and experimental results, together with a discussion of the future swarm robotics in real world applications completes this work.

scholarly journals AgROS: A Robot Operating System Based Emulation Tool for Agricultural Robotics

Agronomy ◽  
2019 ◽  
Vol 9 (7) ◽  
pp. 403 ◽  
Author(s):  
Naoum Tsolakis ◽  
Dimitrios Bechtsis ◽  
Dionysis Bochtis
Keyword(s):  
Operating System ◽  
Real World ◽  
Robotic Systems ◽  
Ground Vehicles ◽  
Robot Operating System ◽  
Digital Twins ◽  
Robot Systems ◽  
Actual Field ◽  
And Performance ◽  
World Environment

This research aims to develop a farm management emulation tool that enables agrifood producers to effectively introduce advanced digital technologies, like intelligent and autonomous unmanned ground vehicles (UGVs), in real-world field operations. To that end, we first provide a critical taxonomy of studies investigating agricultural robotic systems with regard to: (i) the analysis approach, i.e., simulation, emulation, real-world implementation; (ii) farming operations; and (iii) the farming type. Our analysis demonstrates that simulation and emulation modelling have been extensively applied to study advanced agricultural machinery while the majority of the extant research efforts focuses on harvesting/picking/mowing and fertilizing/spraying activities; most studies consider a generic agricultural layout. Thereafter, we developed AgROS, an emulation tool based on the Robot Operating System, which could be used for assessing the efficiency of real-world robot systems in customized fields. The AgROS allows farmers to select their actual field from a map layout, import the landscape of the field, add characteristics of the actual agricultural layout (e.g., trees, static objects), select an agricultural robot from a predefined list of commercial systems, import the selected UGV into the emulation environment, and test the robot’s performance in a quasi-real-world environment. AgROS supports farmers in the ex-ante analysis and performance evaluation of robotized precision farming operations while lays the foundations for realizing “digital twins” in agriculture.

scholarly journals Swarm robotics reviewed

Robotica ◽  
2012 ◽  
Vol 31 (3) ◽  
pp. 345-359 ◽  
Author(s):  
Jan Carlo Barca ◽  
Y. Ahmet Sekercioglu
Keyword(s):  
Real World ◽  
Swarm Robotics ◽  
Robotic System ◽  
Robotic Systems ◽  
Wide Applicability ◽  
Robot Swarms ◽  
Extensive Analysis ◽  
Real World Applications ◽  
Robotic Devices ◽  
Robotic Research

SUMMARYWe present a review of recent activities in swarm robotic research, and analyse existing literature in the field to determine how to get closer to a practical swarm robotic system for real world applications. We begin with a discussion of the importance of swarm robotics by illustrating the wide applicability of robot swarms in various tasks. Then a brief overview of various robotic devices that can be incorporated into swarm robotic systems is presented. We identify and describe the challenges that should be resolved when designing swarm robotic systems for real world applications. Finally, we provide a summary of a series of issues that should be addressed to overcome these challenges, and propose directions for future swarm robotic research based on our extensive analysis of the reviewed literature.

Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems

2014 ◽  
Vol 2 (1) ◽  
pp. 35-60
Author(s):  
Pawel Malysz ◽  
Shahin Sirouspour
Keyword(s):  
System Design ◽  
Control Strategy ◽  
Autonomous Control ◽  
Robotic Systems ◽  
System Configuration ◽  
Unified Framework ◽  
Human In The Loop ◽  
Force Tracking ◽  
High Level ◽  
And Control

This paper presents a unified framework for system design and control in human-in-the-loop asymmetric robotic systems. It introduces a highly general teleoperation system configuration involving any number of operators, haptic interfaces, and robots with possibly different degrees of mobility. The proposed framework allows for mixed teleoperation/autonomous control of user-defined subtasks by establishing position/force tracking as well as kinematic constraints among relevant teleoperation control frames. The control strategy is hierarchical comprising of a high-level teleoperation coordinating controller and low-level joint velocity controllers. The approach utilizes idempotent, generalized pseudoinverse and weighting matrices in order to achieve new performance objectives that are defined for such asymmetric semi-autonomous teleoperation systems. Three layers of velocity-based autonomous control at different priority levels with respect to human teleoperation are integrated into the framework. A detailed analysis of system performance and stability is presented. Experimental results with a single-master/dual-slave system configuration demonstrate an application of the proposed system design and control strategy.

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