... strategically, increasing the likelihood of efficient path discovery. Findings The experimental results demonstrate that the proposed technique significantly outperforms standard PRM, A* algorithm and recent APF-based techniques in environments with narrow passages, as validated on the Pioneer P3DX robot...

...Shoeb Hussain Purpose This paper proposes a novel fractional variable-order super-twisting sliding mode controller (FVO-STSMC) for robust trajectory tracking in robotic manipulators affected by random disturbances and parameter uncertainties. This paper aims to address issues of chattering...

..., the human–robot interaction (Hri) torques for the hips and knees are 4.62 N and 2.32 N, which generates positive power. It reliably produces torque commands for squatting and walking, despite the high variance. Originality/value A novel hybrid torque planning-based movement tracking control...

...Kento Nakatsuru; Weiwei Wan; Kensuke Harada Purpose This paper aims to study using a mobile manipulator with a collaborative robotic arm component to manipulate objects beyond the robot’s maximum payload. Design/methodology/approach This paper proposes a single-short probabilistic roadmap...

...Bhumeshwar Kujilal Patle; Shyh-Leh Chen; Anil Singh; Sunil Kumar Kashyap Purpose The paper aims to develop an efficient and compact hybrid S-curve-PSO (particle swarm optimization) controller for the optimal trajectory planning of industrial robots in the presence of obstacles, especially those...

... 26 02 2023 07 03 2023 © Emerald Publishing Limited 2023 Emerald Publishing Limited Licensed re-use rights only Passive waist assistive exoskeleton Muscle fatigue Muscle synergy Stoop lifting Human-in-the-loop optimization Robotics Programming National Natural...

... gangue data set. Miao Yanzi can be contacted at: myz@cumt.edu.cn 05 03 2022 04 05 2022 30 05 2022 11 06 2022 © Emerald Publishing Limited 2020 Emerald Publishing Limited Licensed re-use rights only Autonomous robots Machine vision Robotics...

...Ya'nan Lou; Pengkun Quan; Haoyu Lin; Zhuo Liang; Dongbo Wei; Shichun Di Purpose This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg is connected to the robot link through...

...Bence Tipary; András Kovács; Ferenc Gábor Erdős Purpose The purpose of this paper is to give a comprehensive solution method for the manipulation of parts with complex geometries arriving in bulk into a robotic assembly cell. As bin-picking applications are still not reliable in intricate...

... Emerald Publishing Limited Licensed re-use rights only In the past few decades, many researchers have proposed a variety of path planning technologies for different scenarios through extensive research studies on robot navigation. Among them, the more famous ones are rapidly exploring random tree...

... by searching the graph. The generated sequences autonomously divide the object weight between the arm and the support surface and avoid configuration obstacles. Cartesian planning is used at the robot motion level to generate motions between adjacent critical grasp poses of the sequence found by the task-level...

... by the experimental results. Originality/value To solve the path planning problem of a complex unstructured environment, a human-robot skills transfer interface is introduced for the UAV that is instructed to follow a trajectory demonstrated by a human teacher. Xuanyi Zhou can be contacted at: zhouxuanyi...

... is fixed to the robot tool. The camera observes the insertion position and component poses from the top. From the images, the PC estimates the poses of the components for suction and insertion. Then, the PC sends the 6-DOF pose differences from the teaching points and the manipulator assembles components...

...Yanjiang Huang; Yanglong Zheng; Nianfeng Wang; Jun Ota; Xianmin Zhang Purpose The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task. Design/methodology/approach The proposed assembly scheme...

... are defined in the set space that can be used to control the 3 DOF of the single-lug workpiece, which results in no tracking or matching of the geometric features. A decoupled interaction matrix related to the image errors in the set space is derived to control the robot movements. An outlier rejection...

... number of variables, it is very difficult to achieve the optimum configuration by trial and error. In addition, manual, iterative optimization procedures are time-consuming and expensive. On the one hand a large number of tests must be carried out and on the other a robot cell is occupied over a longer...

...Yanan Li; Keng Peng Tee; Rui Yan; Shuzhi Sam Ge Purpose This paper aims to propose a general framework of shared control for human–robot interaction. Design/methodology/approach Human dynamics are considered in analysis of the coupled human–robot system. Motion intentions of both human...

...Feifei Bian; Danmei Ren; Ruifeng Li; Peidong Liang; Ke Wang; Lijun Zhao Purpose The purpose of this paper is to present a method which enables a robot to learn both motion skills and stiffness profiles from humans through kinesthetic human-robot cooperation. Design Methodology Approach...

..., to make the method robust, the paper presents a strategy to detect unexpected slowly drifts and zero external forces and stop the robot in those situations. Findings Experimental results demonstrated that compensating the joint torques using both pre-calibrated gravity and friction resistance has...

...Jakub Wojciechowski; Marcin Suszynski Purpose This paper aims to propose the method of automatic robotic assembly of two or more parts placed without fixing instrumentation and positioning on the pallet. Design/methodology/approach Assembly tasks performed by industrial robots are usually...