Robot Prototype Research Articles

CPG-based neural control of peristaltic planar locomotion in an earthworm-like robot: evaluation of nonlinear oscillators.

Earthworm-like robots have excellent locomotion capability in confined environments. Central Pattern Generator (CPG) based controllers utilize the dynamics of coupled nonlinear oscillators to spontaneously generate actuation signals for all segments, which offer significant merits over conventional locomotion control strategies. Thre are a number of oscillators that can be exploited for CPG control, while their performance in controlling peristaltic locomotion has not been systematically evaluated. To advance the state of the art, this study comprehensively evaluates the performance of four widely used nonlinear oscillators-Hopf, Van der Pol, Matsuoka, and Kuramoto-in controlling the planar locomotion of metameric earthworm-like robots. Specifically, the amplitude and phase characteristics of the continuous control signals used by the robot for achieving rectilinear, sidewinding, and arcuate locomotion are first summarized. On this basis, the sufficient parametric conditions for the four oscillator networks to generate the corresponding control signals are derived. Using a six-segment earthworm-like robot prototype as a platform, experiments confirm that the signals output by these oscillator networks can effectively control the robot to achieve the specified planar motion. Furthermore, the effects of the output signal waveforms of different oscillator networks on locomotion trajectories and performance metrics, as well as the effects of transient dynamics on the smoothness of gait transitions when the parameters are varied, are analyzed. The results demonstrate that their applicability varies in terms of locomotion efficiency, trajectory modulation, and smooth gait transitions. The Matsuoka oscillator lacks explicit rules for parameter modulation, the Van der Pol oscillator is advantageous in enhancing the average speed and turning efficiency, and the Hopf and Kuramoto oscillators are advantageous in terms of smooth gait transition. These findings provide valuable insights into the selection of appropriate oscillators in CPG-based controllers and lay the foundation for future CPG-based adaptive control of earthworm-like robots in complex environments.

Inspired by the growth behavior of plants: biomimetic soft robots that just meet the requirements of use

Soft robots are usually manufactured using the pouring method and can only be configured with a fixed execution area, which often faces the problem of insufficient or wasteful performance in real-world applications, and cannot be reused for other tasks. In order to overcome this limitation, we propose a simple and controllable rather than redesigned method inspired by the bionic growth behavior of plants, and prepare bionic soft robots that can just meet the requirements of use, and transform biological intelligence into mechanical intelligence. Based on finite element method, we establish a theoretical model of soft robot performance. And the experimental platform is designed to conduct experimental research on the prototype of the soft robot. Compared with the results obtained through the theoretical model, it is found out that the experimental bending angle and elongation are slightly smaller than the simulation results. (The maximum error of elongation prediction for soft robots (Fashion 1-4) is 5.7%, 5.9%, 6%, and 6%, and the maximum error of bending angle prediction is 7.1%, 7.5%, 7.6%, and 7.6%, respectively). The high consistence between our theoretical model and the experimental results shows that the theoretical model is applicable to accurately predict the performance of soft robots. It is worth pointing out that this design as proposed in this paper can be extended to the wider field of soft robotics as a generic one.

Design, Development and Optimization of a Robotic Weed Control System for Greenhouses

This study presents the design and development of a robotic prototype specifically engineered for weed elimination within cucumber plants growing in greenhouse conditions. Given the limited research in automated weed control tailored to cucumber cultivation, this project fills a crucial gap in agricultural robotics. The cucumber plants are arranged in a single row, maintaining a spacing of approximately 40 cm between each plant, while the rows themselves are positioned about 1 meter apart. The greenhouse environment features sandy loam soil, which informs the robot's design and operational parameters. The robot employs three arrays of ultrasonic sensors strategically positioned to enhance weed detection capabilities. A PIC18 F4550-E/P microcontroller serves as the processing unit, enabling real-time feedback from the sensors that triggers the actuation of a robotic arm. This arm is engineered to maneuver between plant rows, utilizing rotating blades for efficient weed cutting. A comprehensive experimental procedure was conducted, comprising 54 trials within the greenhouse setting, to optimize the performance of the robotic arm. Key variables investigated included arm motor (AM) speed, blade rotation (BR) speed, and blade design. The research tested three BR speeds—3500, 2500, and 1500 RPM—determined based on prior literature concerning rotary movers. Furthermore, two AM speeds (10 and 30 RPM) paired with three distinct blade designs—S-shaped, triangular, and circular—were evaluated primarily for their cost-efficiency and performance based on initial testing outcomes. Results revealed a significant correlation between motor speed and weed cutting efficiency, showing that higher motor speeds correlated with a decreased percentage of cut weeds. Consequently, the 10 RPM motor speed was identified as the optimal setting for arm movement, balancing effective weed removal with operational efficiency.

A ROBÓTICA COMO FERRAMENTA DE ENSINO NAS SÉRIES INICIAIS DO ENSINO FUNDAMENTAL

Every day we come across more technological resources being used around us, and they become increasingly invisible as they are incorporated into our daily lives, whether in industry, commerce, personal tasks or education, where it is possible to learn and teach in different ways, developing skills and competencies. Seeking help in these technologies, the objective of this work is to provide new concepts about robotics, encouraging students to think creatively, efficiently, playfully and practically so that they can develop their skills and competencies, carrying out Math activities. It is necessary to make young people and children see the potential of innovation in technologies combined with play and relate them to their study routines, since they spend a lot of time consuming technology, through games and social networks. To this end, we thought of working in the classroom with robotic prototypes developing a learning object that, through a case study and exploratory research, were applied in the classroom, observing the motivation and performance of students when carrying out the activities in a quantitative and qualitative way. The case study was carried out with sixteen students from the 5th grade of Elementary School at the São Luís Municipal Elementary School in the city of São Vicente do Seridó-PB. As a result, it was noted that the students' performance was better in the post-test, and the students were motivated to solve the activities, which was a determining factor for the development of their skills.

Design and development of a low-cost, eco-friendly forklift for sustainable logistics management

The U.S. Occupational Safety and Health Administration’s (OSHA) most recent estimates show that between 35,000 and 62,000 injuries occur every year due to forklift-related accidents. According to the National Safety Council (NSC) data, approximately 78 fatalities are reported every year. Moreover, manual loading and unloading of heavy items is time-consuming and poses significant risks to workers in small and crowded warehouses. To address these safety and efficiency concerns cost-effectively, an automated robotic forklift prototype was developed. The key features of this industrial robot include full rotational mobility with a zero-degree turning radius, which reduces the time and space required to turn around corners. It can be operated remotely via a mobile phone using Bluetooth or wi-fi. The motion control system, based on the ESP-32 microcontroller, significantly enhances its operational efficiency compared to manual operation. This study evaluates the performance of the robotic forklift prototype, cost-effectiveness, with loading and unloading capabilities as effective solutions to the challenges faced by workers. Additionally, structural analysis using Ansys confirmed that the design can safely withstand forces 60% greater than the intended design load of 50 N. Furthermore, the maximum stress experienced by the fork is 67% below the material yield strength, further demonstrating robustness and reliability. The integration of advanced technology and Eco-friendly design positions this forklift as a viable and sustainable option for improving material handling in various industrial sectors.

Kinematic and Dynamic Analysis of the Human Hand’s Articulation for Wearable Soft-Robotic Device Applications

Robot-assisted therapy, particularly hand exoskeletons, has emerged as a promising approach to address hand function limitations caused by neurological diseases that can significantly impact mobility, balance, and posture, leading to physical, psychological, and societal challenges. Traditional rigid-body robots, while helpful, have limitations in safety and dexterity, spurring research into soft robotics in neurorehabilitation. The research presented in this manuscript focuses on the advancement of a Soft Robotic Glove prototype developed for neurorehabilitation, integrated into the NeuroSuitUp Body-Machine Interface. This glove, composed of five PneuNet pneumatic actuators and a multi-sensor system, is designed to facilitate natural hand movements. To optimize the glove's functionality, kinematic and dynamic analyses of the human hand was conducted. Specifically, a kinematic model of the hand, with 19 links representing human bones (phalanges) and 24 joints connecting them, was developed indicating the 24 degrees of freedom of the human hand. By understanding the forces applied to the finger phalanges, the movement of the entire finger can be predicted. This knowledge aids in designing personalized exoskeletal hand devices tailored to individual patient needs. Further research aims to combine this model with a dynamic model of the actuators and investigate the device's effect on hand performance through computer simulations.

Implementation of mixed reality technology for the control of physical systems

The integration of mixed reality (MR) technology into physical systems represents a significant advancement in bridging the gap between educational environments and industrial applications. This study explores the development of a robotic arm prototype controlled through MR technology, aimed at enhancing educational experiences in the field of robotics. By utilizing augmented reality (AR), virtual reality (VR), and real-time physical interactions, students gain a comprehensive understanding of robotic systems. The project combines open-source platforms with MR to provide a hands-on, immersive learning environment. The primary objective is to foster high-impact learning and practical training, thus reducing the gap between educational settings and real-world industrial applications.

Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy

This article introduces a novel modification of a Delta-type parallel robot. The robot has five degrees of freedom and provides its end-effector with a 3T2R motion pattern (three translational and two rotational degrees of freedom). The fifth degree of freedom (rotation) is kinematically decoupled from the other four motions, and it is controlled by two drives. Thus, the proposed robot has a redundant actuation. In this article, we present an algorithm to solve the inverse kinematics of this robot and apply it to a path modeling example of a spiral-like trajectory. Numerical simulations illustrate the algorithm and show how the actuated coordinates change along the considered trajectory. Forward kinematics follows next, and an approach is introduced to determine all end-effector configurations for the specified displacements in the actuated joints. A numerical example presents four assembly modes of the robot corresponding to four real solutions of the forward kinematic problem. Finally, this article demonstrates a computer-aided design and analysis of the proposed robot: we describe a procedure for analyzing inverse kinematics and calculating actuation torques. This study forms the basis for the future manufacturing and experimental analysis of a robot prototype.

Development of a Robotic Device that Performs Head Bunting to Relieve User Tension

Inspired by an animal behavior called bunting, in which the animal rubs its head against other objects, including humans, we developed robotic prototypes capable of performing such bunting behaviors. Since physical contact plays an important role in therapeutic interactions between pets and their owners, we hypothesize that robot bunting can have a similar effect on its user. This article reports on the development of such a robot with a flexible neck that can change its stiffness while the robot is rubbing its head against the user. An exploratory study was also conducted with 22 human participants, on whom the developed robot performed head bunting with three different (low/high/variable) stiffness conditions. The results show that the participants’ psychological tension, as measured by the temporary mood scale (TMS), was significantly reduced (p \(\lt\) 0.001) after interacting with the robot. The difference between the three stiffness conditions was not significant in this study. Due to the lack of a control condition, we cannot confirm a clear effect of the stiffness change; however, some participants commented that the stiffness change made the robot's behavior lifelike and relaxing.

A Novel GEA–PSO Method for Optimizing the Parameters of a Bird-Like Flapping Wing Robot

A novel parameter optimization method, named the geyser algorithm based on particle swarm optimization (GEA–PSO) method, was proposed for optimizing the key parameters of a bird-like flapping wing robot. The kinematic model, the multiple objective functions, and some constraint conditions were first established. A novel GEA–PSO algorithm was designed. Some test functions verified the good superiority of the GEA–PSO method with a fast velocity and high accuracy. The key parameters of the robot were successfully optimized using the GEA–PSO method. Kinematic simulations were carried out to obtain some key quantities, such as the end trajectory, the flapping angle, and the folding angle. Robot experiments were conducted based on the robot prototype, which verified the effectiveness of the optimization method. The GEA–PSO method plays a crucial role in the parameter optimizations and the stable flights of the robot.

Preliminary design and evaluation of a ducted-fan type pipeline robot

Pipelines are crucial infrastructure supporting human life, yet their maintenance costs are substantial, necessitating the development of time-efficient robotic systems. Therefore, this study proposes an in-pipe mobile robot powered by wind generated using a ducted fan rotor, enabling faster movement within pipelines than conventional methods, e.g., inchworm. Deriving the propulsion force from wind requires analyzing airflow within the pipeline, which is challenging due to the confined space and complexity, especially when considering the presence of robots. Hence, we developed a prototype of a ducted-fan type pipeline robot (DPR) and experimentally investigated duct shapes that enhance the propulsion of the DPR within pipelines. As a result, we identified duct shapes that amplify the propulsion force generated by the ducted fan within pipelines. Additionally, we also experimentally elucidated the relationship between the distance from the pipe’s end and the propulsion force of the robot. Furthermore, we demonstrated the capabilities of the DPR by traversing a pipeline with a diameter of 110 mm, achieving speeds of 1500 mm/s in horizontal pipes and 700 mm/s while ascending vertical pipes. The results show that DRP has the potential for in-pipe inspection.

Experimental Investigation of Free-Motion Task Implementation on a Serial Metamorphic Manipulator

This paper presents an experimental investigation into the implementation of free-motion tasks on a serial metamorphic manipulator (SMM). Utilizing a previously established task-based optimization methodology, the dynamic performance of the SMM is evaluated through a combination of theoretical performance metrics and experimental data. The study aims to validate the SMM’s ability to achieve optimized performance through structural reconfiguration. Theoretical models are compared against real-world free-motion task data, demonstrating strong correlations between analytical calculations and experimental outcomes. The discussion focuses on three key areas: the efficiency of joint controllers, end-effector acceleration capabilities, and joint controller performance. Results indicate that an optimized anatomy can achieve more than 40% reduction in produced torques during task execution and a 35% improvement in the torque-to-velocity ratio. While the simple controller implemented in the robot prototype exhibits adequate performance, notable limitations are observed in task segments with lower dynamic performance, particularly in terms of positional accuracy and energy efficiency. During XY-plane task execution, the Z-axis position error deviates by 1 to 2 cm in areas of lower dynamic performance. These findings provide key insights and establish a robust foundation for advancing SMM capabilities in practical applications, with future work focusing on addressing the identified limitations.

Design, fabrication, and testing of a new soft-pouch robot with 6 degrees of freedom to expand the reach of open and endonasal skull base approaches

OBJECTIVE Most robots currently used in neurosurgery aid surgeons in placing spinal hardware and guiding electrodes and biopsy probes toward brain targets. These robots are inflexible, cannot turn corners, and exert excessive force when dissecting and retracting brain tissue, limiting their applicability in cranial base surgery. In this study, the authors present a novel soft-pouch robot prototype driven by compressed air and capable of gentle tissue manipulation. The robot is manufactured with technology developed by the authors, with multiple bidirectional bending points and a miniature camera running through the robot’s central channel. METHODS A soft, pneumatically driven pouch manipulator was created using a novel rapid and scalable system (integrated multilayer pouch robots with inkjet-patterned thin films). Made from 4 layers of thin, low-density polyethylene films, the manipulator has a thin deflated profile (152 µm) and contains 5 independent bidirectional joints with 50° range in each direction, as well as a wrapping end-effector. The robot carries a camera through its central channel. Four cadaveric models were used to demonstrate the robotic prototype being maneuvered inside different anatomical structures during simulated endonasal and posterior fossa approaches, with a manually positioned robot base and manually controlled air pressures. RESULTS The robot is a pneumatically driven, soft-continuum manipulator with 12 control inputs and 6 independently controllable degrees of freedom. This design enables in-plane obstacle avoidance and orientation control. The robot is trapezoidal-shaped, with a total weight of 0.4 g, a 10-mm-wide distal end, and a length of 138 mm. The variable production cost (materials cost) of the manipulator is approximately $1. The manipulator is maneuvered to enter the maxillary sinus and through the endonasal corridor, demonstrating its potential use for anterior skull base approaches. It is also successfully maneuvered around the pons in a simulated retrosigmoid approach. CONCLUSIONS This robot offers a promising solution for safely maneuvering through narrow surgical windows encountered during skull base approaches. The multiple bending points of the robot, combined with its passive deformation capacity, allow it to turn around immovable structures, expanding the reach of surgical openings. The cost-effectiveness, rapid production, and scalability of the robot represent additional advantages.

Implementation of the Sugeno Fuzzy Method in a Firefighting Robot Prototype with an All-Wheel Drive System

The purpose of this study is how to implement the Fuzzy Sugeno method to a fire-fighting robot prototype with all wheel drive system. Resculpts by transferring academic input to specific fields of knowledge, as many problems have become increasingly adaptable due to technology or the growth of AI, which is fast becoming the dominant productivity tool. Fuzzy method is a mathematical method used to overcome the problems of small uncertainties and imprecision. The first prototype of the fire-fighting robot which will be able to use all-wheel drive system is meant to mitigate the risk of large fire and to detect as soon as possible. Observational results verify that the Robot prototype follows its intended workflow as well as can complete its mission to both detect and eliminate fire hazards. The speed of the wheel is controlled on three levels slow (0 RPM), moderate (50 RPM), and fast (100 RPM) using Fuzzy Sugeno method. Also, in response time is set by using Fuzzy Sugeno method which is set to 1 second, 2 seconds, and 3 seconds

Impedance for Assistance: Upper-Limb Assistive Soft Robotic Suit Using Linked-Layer Jamming Mechanisms.

Wearable robots, especially those composed of soft materials, are increasingly attracting interest due to their comfort, ease of donning and doffing, and their ability to provide assistance across various applications. In wearable robotics, striking a balance between ensuring low impedance for wearer comfort and providing sufficient assistive force is a notable design challenge. In this study, we propose exploiting impedance variation in accordance with the types of muscle contraction in the human body. Particularly in eccentric muscle contraction, the impedance can help reduce the muscular load, since it exerts force in the same direction as the muscles. To utilize the relation, we proposed a linked-layer jamming mechanism, which adjusts its impedance largely in various directions. This mechanism allows not only a broad variable range of impedance in multiple rotation directions but also directional torque design, even when equipped in human multi-degree-of-freedom (DoF) joints. By constructing a wearable robot prototype equipped with the proposed linked-layer jamming mechanisms, the effectiveness of this impedance-based assistance approach was confirmed through experiments. The findings from this study present new possibilities in wearable robot design, showing that suitably amplified impedance can assist human motion, potentially enhancing task efficiency and lowering injury risk. This work thus offers a new perspective for researchers in the field of wearable robots, demonstrating that impedance, often minimized in existing designs, can be utilized beneficially when properly amplified.

A Review on Multipurpose Agri Robot

A Multitasking robot for the field of Agriculture has been studied in this research. Now a day, precision agriculture by agricultural robots is the newly emerging technology in agriculture sector to save the time and energy that is wasted in repetitive farming tasks automation in farming processes is quite helpful. To design these sorts of robots there should be certain considerations and particular approach considering the agriculture environment in which it will be working. The working of an autonomous robot is based on field parameters i.e. length and width. Prototype of an agricultural robot “Agri-Bot” is modeled for multitasking such as seeding, ploughing and harvesting with a separate irrigation system. It is a four wheeled vehicle which is controlled by ATMEGA328 microcontroller as master controller, Humidity sensor for irrigation, power supply is provided by solar panel which is eco-friendly to the environment. It will also help in decreasing the use of nonrenewable sources of energy and will not pollute the environment. Other accessories are slaves performing specific operations.

A Fixed‐Time Composite Control With Variable Exponent Coefficients for Stewart Parallel Mechanism Tracking in Task Space

ABSTRACTTo improve tracking control performance in the task space of the Stewart parallel mechanism (SPM) with uncertainties of modeling errors and external disturbances in our developed rust removal sandblasting robot for the surface roughness processing of a bridge's steel box girder, a fixed‐time composite control with variable exponent coefficients (VEC‐FxTCC) approach for multi‐input multi‐output (MIMO) nonlinear robotic systems is developed. Firstly, by devising only one regulation term with a variable exponent coefficient (VEC) function in the system's Lyapunov differential inclusion, a novel VEC fixed‐time stability theorem for the MIMO nonlinear dynamic system is proposed and proven. Secondly, based on the proposed theorem, VEC‐FxTCC is formed by designing and combining a VEC fixed‐time disturbance observer (VEC‐FxTDOB) and a VEC fixed‐time super‐twisting control (VEC‐FxTSTC), in order to achieve fast, steady, and uniformly bounded‐time convergence for SPM's end‐effector tracking, while avoiding singularity. Finally, the effectiveness of the proposed VEC‐FxTCC approach is validated through the simulations and the rust removal sandblasting robot prototype experiments.

Contributions to the Development of Tetrahedral Mobile Robots with Omnidirectional Locomotion Units

In this paper, the authors present the process of modeling, building, and testing two prototypes of tetrahedral robots with omnidirectional locomotion units. The paper begins with a detailed description of the first tetrahedral robot prototype, highlighting its strengths as well as the limitations that led to the need for improvements. The robot’s omnidirectional movement allowed it to move in all directions, but certain challenges related to stability and adaptability were identified. The second prototype is presented as an advanced and improved version of the first model, integrating significant modifications in both the structural design and the robot’s functionality. The authors emphasize how these optimizations were achieved, detailing the solutions adopted and their impact on the robot’s overall performance. This paper includes an in-depth comparative analysis between the two prototypes. The analysis highlights the considerable advantages of the second prototype, demonstrating its superiority. The conclusions of the paper summarize the main findings of the research and emphasize the significant progress made from the first to the second prototype. Finally, future research directions are discussed, which include refining control algorithms, miniaturizing the robot, improving structural performance by integrating shock-absorbing dampers, and integrating lighting systems and video cameras.

Design and evaluation of a robotic prototype for gerbera harvesting, performing actions at never-seen locations

Design and evaluation of a robotic prototype for gerbera harvesting, performing actions at never-seen locations

MINARO DRS: usability study of a robotic-assisted laminectomy.

Although the literature shows that robotic assistance can support the surgeon, robotic systems are not widely spread in clinics. They often incorporate large robotic arms adopted from the manufacturing industry, imposing safety hazards when in contact with the patient or surgical staff. We approached this limitation with a modular dual robot consisting of an ultra-lightweight carrier robot for rough prepositioning and small, highly dynamic, application-specific, interchangeable tooling robots. A formative usability study with N = 10 neurosurgeons was conducted using a prototype of a novel tooling robot for laminectomy to evaluate the system's usability. The participants were asked to perform three experiments using the robotic system: (1) prepositioning with the carrier robot and milling into (2) a block phantom as well as (3) a spine model. All neurosurgeons could perform a simulated laminectomy on a spine phantom using the robotic system. On average, they rated the usability of this first prototype already between good and excellent (SUS-Score above 75%). Eight out of the ten participants preferred robotic-assisted milling over manual milling. For prepositioning, the developed haptic guidance showed significantly higher effectiveness and efficiency than visual navigation. The proposed dual robot system showed the potential to increase safety in the operating room because of the synergistic hands-on control and the ultra-lightweight design of the carrier robot. The modular design allows for easy adaptation to various surgical procedures. However, improvements are needed in the ergonomics of the tooling robot and the complexity of the virtual fixtures. The cooperative dual robot system can subsequently be tested in a cadaver laboratory and in vivo on animals.