Journal of the Indian Institute of Science最新文献

A Review on the Stability of Biped Robots 双足机器人稳定性研究进展

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-04-02 DOI: 10.1007/s41745-024-00454-4

Alinjar Dan, S. K. Saha, K. Rama Krishna

{"title":"A Review on the Stability of Biped Robots","authors":"Alinjar Dan, S. K. Saha, K. Rama Krishna","doi":"10.1007/s41745-024-00454-4","DOIUrl":"10.1007/s41745-024-00454-4","url":null,"abstract":"<div><p>The use of robotics has been increasing in various applications in industrial, medical, entertainment, and disaster management. Biped robotics is one of the most popular specialized fields. This paper starts with a discussion on the application of robotics and argues that bipeds are an important domain of robotics due to their universal application. Stability is an important issue for bipeds. The present paper is an endeavour to review the important topic of stability. The literature review on stability of bipeds in this paper is broadly divided into two parts: Stable gait generation, also regarded as dynamic stability, and stability against disturbance, also regarded as stance stability. Stable gait generation techniques on various geometrical surfaces, such as level ground, inclined grounds, uneven grounds, stairs, and wide ditch (crossing), are discussed. Stable locomotion for avoiding obstacles is discussed as well. For stance stability, the discussion is broadly divided into two parts: with controller and without controller. For small disturbances that do not cause significant changes in the system’s states, proper Centre of mass (CoM) placement ensures stability; controls at the joints are not needed. However, to ensure stability against sufficiently large disturbances causing significant changes in the system’s states, a proper controller strategy must be developed. All these aspects of stability against disturbances are discussed in detail. After critical review of the above aspects of stability in the literature, existing research gaps are identified, and the possible future works to address them are discussed.</p></div>","PeriodicalId":675,"journal":{"name":"Journal of the Indian Institute of Science","volume":"104 3","pages":"579 - 609"},"PeriodicalIF":1.8,"publicationDate":"2025-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938268","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Overview of Data-Driven Paradigms for Identification and Control of Robotic Systems 机器人系统识别与控制的数据驱动范式综述

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-03-12 DOI: 10.1007/s41745-025-00464-w

Chandan Kumar Sah, Rajpal Singh, Jishnu Keshavan

引用次数: 0

Quadrotor-Based Aerial Manipulator Robotics 基于四旋翼的空中机械手机器人

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-26 DOI: 10.1007/s41745-024-00457-1

Vidya Sumathy, Debasish Ghose

引用次数: 0

Editor's Desk 编辑器的桌子上

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-24 DOI: 10.1007/s41745-025-00460-0

G. Ananthasuresh

引用次数: 0

Guest-Editorial: Robotics Guest-Editorial:机器人

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-19 DOI: 10.1007/s41745-025-00463-x

G. K. Ananathasuresh

引用次数: 0

Academic Insights and Future Prospects of Soft Robotics: Architecture, Material, Control and Application 软机器人的学术见解与未来展望：结构、材料、控制与应用

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-19 DOI: 10.1007/s41745-025-00461-z

Mervin Joe Thomas, Santhakumar Mohan

{"title":"Academic Insights and Future Prospects of Soft Robotics: Architecture, Material, Control and Application","authors":"Mervin Joe Thomas, Santhakumar Mohan","doi":"10.1007/s41745-025-00461-z","DOIUrl":"10.1007/s41745-025-00461-z","url":null,"abstract":"<div><p>Soft Robotics is an emerging field with the potential to address real-world problems with newer possibilities and safer human–robot interactions. Generally, soft robots comprise materials with moduli ranging from 10<sup>4</sup> to 10<sup>9</sup> Pa. The significant characteristics of soft robots include their high flexibility, compatibility, and superior environmental adaptability. Despite the several advantages of soft robots, many physical limitations exist due to their structural compliance and the viscoelastic behaviour of the material which leads to non-linear deformations in the material. This very reason necessitates sophisticated and novel sensing, actuation and non-linear control methods for soft robots. This review paper provides a comprehensive understanding of the advancements in soft robots and finally outlines the gaps in this field, currently limiting their usage in several applications. The pros and cons of the various technologies are discussed, and possible strategies for the superior performance of soft robots and their prospects are outlined in this paper.</p></div>","PeriodicalId":675,"journal":{"name":"Journal of the Indian Institute of Science","volume":"104 3","pages":"645 - 668"},"PeriodicalIF":1.8,"publicationDate":"2025-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938223","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Assisted Path Planning for a UGV–UAV Team Through a Stochastic Network 基于随机网络的UGV-UAV团队路径规划

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-11 DOI: 10.1007/s41745-024-00459-z

Abhay Singh Bhadoriya, Sivakumar Rathinam, Swaroop Darbha, David W. Casbeer, Satyanarayana G. Manyam

{"title":"Assisted Path Planning for a UGV–UAV Team Through a Stochastic Network","authors":"Abhay Singh Bhadoriya, Sivakumar Rathinam, Swaroop Darbha, David W. Casbeer, Satyanarayana G. Manyam","doi":"10.1007/s41745-024-00459-z","DOIUrl":"10.1007/s41745-024-00459-z","url":null,"abstract":"<div><p>In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) is a random variable because of traffic congestion. An unmanned ground vehicle (UGV) wishes to travel from a starting location to a destination while minimizing the arrival time at the destination. UGV can traverse through an impeded edge but the true travel time is only realized at the end of that edge. This implies that the UGV can potentially get stuck in an impeded edge with high travel time. A support vehicle, such as an unmanned aerial vehicle (UAV) is simultaneously deployed from its starting position to assist the UGV by inspecting and realizing the true cost of impeded edges. With the updated information from UAV, UGV can efficiently reroute its path to the destination. The UGV does not wait at any time until it reaches the destination. The UAV is permitted to terminate its path at any vertex. The goal is then to develop an online algorithm to determine efficient paths for the UGV and the UAV based on the current information so that the UGV reaches the destination in minimum time. We refer to this problem as stochastic assisted path planning (SAPP). We present dynamic <i>k</i>-shortest path planning (D*KSPP) algorithm for the UGV planning and rural postman problem (RPP) formulation for the UAV planning. Due to the scalability challenges of RPP, we also present a heuristic based priority assignment algorithm for the UAV planning. Computational results are presented to corroborate the effectiveness of the proposed algorithm to solve SAPP.</p></div>","PeriodicalId":675,"journal":{"name":"Journal of the Indian Institute of Science","volume":"104 3","pages":"691 - 710"},"PeriodicalIF":1.8,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Size and Illumination Matters: Local Magnetic Actuation and Fluorescence Imaging for Microrobotics 尺寸和照明问题：微型机器人的局部磁致动和荧光成像

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-10 DOI: 10.1007/s41745-024-00453-5

Juan J. Huaroto, Sarthak Misra

{"title":"Size and Illumination Matters: Local Magnetic Actuation and Fluorescence Imaging for Microrobotics","authors":"Juan J. Huaroto, Sarthak Misra","doi":"10.1007/s41745-024-00453-5","DOIUrl":"10.1007/s41745-024-00453-5","url":null,"abstract":"<div><p>Combining local magnetic actuation with fluorescence imaging modalities promises to introduce significant advances in microrobotic-guided procedures. This review presents the advantages and challenges of this approach, emphasizing the need for careful design considerations to optimize performance and compatibility. Traditional microrobotic actuation systems rely on bulky electromagnets, which are unsuitable for clinical use due to high power requirements and limited operational workspace. In contrast, miniaturized electromagnets can be integrated into surgical instruments, offering low power consumption and high actuation forces at the target site. Fluorescence imaging modalities have been explored in microrobotics, showcasing spatiotemporal resolution and the capability to provide information from biological entities. However, limitations, such as shallow penetration depth and out-of-focus fluorescence, have motivated the development of advanced techniques such as two-photon microscopy. The potential of two-photon microscopy to overcome these limitations is highlighted, with supporting evidence from previous studies on rat tissue samples. Current challenges in optical penetration depth, temporal resolution, and field of view are also addressed in this review. While integrating miniaturized electromagnets with fluorescence imaging modalities holds the potential for microrobotic-guided procedures, ongoing research and technological advancements are essential to translating this approach into clinical practice.</p></div>","PeriodicalId":675,"journal":{"name":"Journal of the Indian Institute of Science","volume":"104 3","pages":"745 - 763"},"PeriodicalIF":1.8,"publicationDate":"2025-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s41745-024-00453-5.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Challenges for Workspace Analysis of Manipulators 机械臂工作空间分析的挑战

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-10 DOI: 10.1007/s41745-024-00458-0

Marco Ceccarelli

引用次数: 0

Tutorial: Nitinol and Tungsten Tendon Attachment Techniques for Steerable Continuum Robots 教程：可操纵连续体机器人的镍钛诺和钨肌腱连接技术

IF 1.8 4区综合性期刊

Journal of the Indian Institute of Science Pub Date : 2025-02-10 DOI: 10.1007/s41745-024-00455-3

Joanna Deaton Bertram, Priya Soneji, Drew Elliott, Timothy A. Brumfiel, Jaydev P. Desai

{"title":"Tutorial: Nitinol and Tungsten Tendon Attachment Techniques for Steerable Continuum Robots","authors":"Joanna Deaton Bertram, Priya Soneji, Drew Elliott, Timothy A. Brumfiel, Jaydev P. Desai","doi":"10.1007/s41745-024-00455-3","DOIUrl":"10.1007/s41745-024-00455-3","url":null,"abstract":"<div><p>Minimally invasive surgery (MIS) has proven advantageous over open surgery in reducing patient trauma, complications, and time in the hospital. However, the small incisions required for MIS inhibit maneuverability and access to the surgical site. Dexterous robotic instruments are a promising area of research to overcome these challenges in MIS. Tendon-driven continuum robots have shown potential to expand surgeon capabilities for operating within confined spaces and with minimal injury to the patient. For many procedures, miniaturized devices on the micro- and meso-scale are desired to access confined areas within the body and enable sufficient maneuverability. These robots are a topic of active research, and the fabrication of such miniaturized mechanisms remains challenging. To address these challenges, this paper provides a tutorial which outlines and evaluates various methods for attaching tendons in micro-and meso-scale robotic joints. Attachment techniques including bonding and plate mechanisms are used to assemble nitinol and tungsten tendons within both micro- and meso-scale samples. For micro-scale robots, samples less than 1 mm in diameter are used to evaluate the strength, repeatability, and actuation within a continuum robotic guidewire. For meso-scale robots, such as 1.93 mm diameter neuroendoscope tools, tendon placement is achieved using stainless steel and 3D-printed plates. Furthermore, the effects of solder and epoxy knot reinforcement are studied. Detailed procedures for attachment methods are provided, and the strengths and limitations of the tendon materials and attachment methods studied in this paper are highlighted for specific applications.</p></div>","PeriodicalId":675,"journal":{"name":"Journal of the Indian Institute of Science","volume":"104 3","pages":"623 - 643"},"PeriodicalIF":1.8,"publicationDate":"2025-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938511","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0