IF 3.7

Robotics Pub Date : 2023-12-31 DOI: 10.3390/robotics13010009

Michele Folgheraiter, Sharafatdin Yessirkepov, T. Umurzakov

引用次数: 0

An Enhanced Multi-Sensor Simultaneous Localization and Mapping (SLAM) Framework with Coarse-to-Fine Loop Closure Detection Based on a Tightly Coupled Error State Iterative Kalman Filter 基于紧密耦合误差态迭代卡尔曼滤波器的增强型多传感器同时定位与绘图（SLAM）框架，具有从粗到细的闭环检测功能

IF 3.7

Robotics Pub Date : 2023-12-21 DOI: 10.3390/robotics13010002

Changhao Yu, Zichen Chao, Haoran Xie, Yue Hua, Weitao Wu

{"title":"An Enhanced Multi-Sensor Simultaneous Localization and Mapping (SLAM) Framework with Coarse-to-Fine Loop Closure Detection Based on a Tightly Coupled Error State Iterative Kalman Filter","authors":"Changhao Yu, Zichen Chao, Haoran Xie, Yue Hua, Weitao Wu","doi":"10.3390/robotics13010002","DOIUrl":"https://doi.org/10.3390/robotics13010002","url":null,"abstract":"In order to attain precise and robust transformation estimation in simultaneous localization and mapping (SLAM) tasks, the integration of multiple sensors has demonstrated effectiveness and significant potential in robotics applications. Our work emerges as a rapid tightly coupled LIDAR-inertial-visual SLAM system, comprising three tightly coupled components: the LIO module, the VIO module, and the loop closure detection module. The LIO module directly constructs raw scanning point increments into a point cloud map for matching. The VIO component performs image alignment by aligning the observed points and the loop closure detection module imparts real-time cumulative error correction through factor graph optimization using the iSAM2 optimizer. The three components are integrated via an error state iterative Kalman filter (ESIKF). To alleviate computational efforts in loop closure detection, a coarse-to-fine point cloud matching approach is employed, leverging Quatro for deriving a priori state for keyframe point clouds and NanoGICP for detailed transformation computation. Experimental evaluations conducted on both open and private datasets substantiate the superior performance of the proposed method compared to similar approaches. The results indicate the adaptability of this method to various challenging situations.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"49 11","pages":""},"PeriodicalIF":3.7,"publicationDate":"2023-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138948908","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Playing Checkers with an Intelligent and Collaborative Robotic System 用智能协作机器人系统下跳棋

IF 3.7

Robotics Pub Date : 2023-12-21 DOI: 10.3390/robotics13010004

Giuliano Fabris, Lorenzo Scalera, Alessandro Gasparetto

{"title":"Playing Checkers with an Intelligent and Collaborative Robotic System","authors":"Giuliano Fabris, Lorenzo Scalera, Alessandro Gasparetto","doi":"10.3390/robotics13010004","DOIUrl":"https://doi.org/10.3390/robotics13010004","url":null,"abstract":"Collaborative robotics represents a modern and efficient framework in which machines can safely interact with humans. Coupled with artificial intelligence (AI) systems, collaborative robots can solve problems that require a certain degree of intelligence not only in industry but also in the entertainment and educational fields. Board games like chess or checkers are a good example. When playing these games, a robotic system has to recognize the board and pieces and estimate their position in the robot reference frame, decide autonomously which is the best move to make (respecting the game rules), and physically execute it. In this paper, an intelligent and collaborative robotic system is presented to play Italian checkers. The system is able to acquire the game state using a camera, select the best move among all the possible ones through a decision-making algorithm, and physically manipulate the game pieces on the board, performing pick-and-place operations. Minimum-time trajectories are optimized online for each pick-and-place operation of the robot so as to make the game more fluent and interactive while meeting the kinematic constraints of the manipulator. The developed system is tested in a real-world setup using a Franka Emika arm with seven degrees of freedom. The experimental results demonstrate the feasibility and performance of the proposed approach.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"15 5","pages":""},"PeriodicalIF":3.7,"publicationDate":"2023-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138952242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Review of Trajectory Prediction Methods for the Vulnerable Road User 弱势道路使用者轨迹预测方法综述

IF 3.7

Robotics Pub Date : 2023-12-19 DOI: 10.3390/robotics13010001

Erik Schuetz, Fabian B. Flohr

引用次数: 0

A Novel Control Architecture Based on Behavior Trees for an Omni-Directional Mobile Robot 基于行为树的全向移动机器人新型控制架构

IF 3.7

Robotics Pub Date : 2023-12-16 DOI: 10.3390/robotics12060170

Rodrigo Bernardo, João M. C. Sousa, M. Botto, Paulo J. S. Gonçalves

引用次数: 0

NOHAS: A Novel Orthotic Hand Actuated by Servo Motors and Mobile App for Stroke Rehabilitation NOHAS：由伺服电机和移动应用程序驱动的新型中风康复矫形手

IF 3.7

Robotics Pub Date : 2023-12-08 DOI: 10.3390/robotics12060169

Ebenezer Raj Selvaraj Mercyshalinie, A. Ghadge, N. Ifejika, Yonas T. Tadesse

{"title":"NOHAS: A Novel Orthotic Hand Actuated by Servo Motors and Mobile App for Stroke Rehabilitation","authors":"Ebenezer Raj Selvaraj Mercyshalinie, A. Ghadge, N. Ifejika, Yonas T. Tadesse","doi":"10.3390/robotics12060169","DOIUrl":"https://doi.org/10.3390/robotics12060169","url":null,"abstract":"The rehabilitation process after the onset of a stroke primarily deals with assisting in regaining mobility, communication skills, swallowing function, and activities of daily living (ADLs). This entirely depends on the specific regions of the brain that have been affected by the stroke. Patients can learn how to utilize adaptive equipment, regain movement, and reduce muscle spasticity through certain repetitive exercises and therapeutic interventions. These exercises can be performed by wearing soft robotic gloves on the impaired extremity. For post-stroke rehabilitation, we have designed and characterized an interactive hand orthosis with tendon-driven finger actuation mechanisms actuated by servo motors, which consists of a fabric glove and force-sensitive resistors (FSRs) at the tip. The robotic device moves the user’s hand when operated by mobile phone to replicate normal gripping behavior. In this paper, the characterization of finger movements in response to step input commands from a mobile app was carried out for each finger at the proximal interphalangeal (PIP), distal interphalangeal (DIP), and metacarpophalangeal (MCP) joints. In general, servo motor-based hand orthoses are energy-efficient; however, they generate noise during actuation. Here, we quantified the noise generated by servo motor actuation for each finger as well as when a group of fingers is simultaneously activated. To test ADL ability, we evaluated the device’s effectiveness in holding different objects from the Action Research Arm Test (ARAT) kit. Our device, novel hand orthosis actuated by servo motors (NOHAS), was tested on ten healthy human subjects and showed an average of 90% success rate in grasping tasks. Our orthotic hand shows promise for aiding post-stroke subjects recover because of its simplicity of use, lightweight construction, and carefully designed components.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"92 ","pages":""},"PeriodicalIF":3.7,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139010915","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robot Learning by Demonstration with Dynamic Parameterization of the Orientation: An Application to Agricultural Activities 带有方向动态参数化的机器人示范学习：农业活动中的应用

IF 3.7

Robotics Pub Date : 2023-12-07 DOI: 10.3390/robotics12060166

Clemente Lauretti, C. Tamantini, Hilario Tomè, L. Zollo

引用次数: 0

AgroCableBot: Reconfigurable Cable-Driven Parallel Robot for Greenhouse or Urban Farming Automation AgroCableBot：用于温室或城市农业自动化的可重构线缆驱动并行机器人

IF 3.7

Robotics Pub Date : 2023-12-01 DOI: 10.3390/robotics12060165

Andrés García-Vanegas, María J. García-Bonilla, Manuel G. Forero, F. Castillo-García, Antonio Gonzalez-Rodriguez

{"title":"AgroCableBot: Reconfigurable Cable-Driven Parallel Robot for Greenhouse or Urban Farming Automation","authors":"Andrés García-Vanegas, María J. García-Bonilla, Manuel G. Forero, F. Castillo-García, Antonio Gonzalez-Rodriguez","doi":"10.3390/robotics12060165","DOIUrl":"https://doi.org/10.3390/robotics12060165","url":null,"abstract":"In this paper, a Cable-Driven Parallel Robot developed to automate repetitive and essential tasks in crop production in greenhouse and urban garden environments is introduced. The robot has a suspended configuration with five degrees-of-freedom, composed of a fixed platform (frame) and a moving platform known as the end-effector. To generate its movements and operations, eight cables are used, which move through eight pulley systems and are controlled by four winches. In addition, the robot is equipped with a seedbed that houses potted plants. Unlike conventional suspended cable robots, this robot incorporates four moving pulley systems in the frame, which significantly increases its workspace. The development of this type of robot requires precise control of the end-effector pose, which includes both the position and orientation of the robot extremity. To achieve this control, analysis is performed in two fundamental aspects: kinematic analysis and dynamic analysis. In addition, an analysis of the effective workspace of the robot is carried out, taking into account the distribution of tensions in the cables. The aim of this analysis is to verify the increase of the working area, which is useful to cover a larger crop area. The robot has been validated through simulations, where possible trajectories that the robot could follow depending on the tasks to be performed in the crop are presented. This work supports the feasibility of using this type of robotic systems to automate specific agricultural processes, such as sowing, irrigation, and crop inspection. This contribution aims to improve crop quality, reduce the consumption of critical resources such as water and fertilizers, and establish them as technological tools in the field of modern agriculture.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"25 3","pages":""},"PeriodicalIF":3.7,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138623560","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Are Friendly Robots Trusted More? An Analysis of Robot Sociability and Trust 友好的机器人更受信任吗？机器人社交性与信任分析

IF 3.7

Robotics Pub Date : 2023-11-29 DOI: 10.3390/robotics12060162

T. Kadylak, M. Bayles, Wendy A. Rogers

引用次数: 0

Virtual Reality Teleoperation System for Mobile Robot Manipulation 用于移动机器人操纵的虚拟现实远程操作系统

IF 3.7

Robotics Pub Date : 2023-11-29 DOI: 10.3390/robotics12060163

Bryan R. Galarza, Paulina Ayala, Santiago Manzano, Marcelo V. Garcia

引用次数: 0

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