Types Of Robots Research Articles

Adaptive Neural Delay Feedback Control of a Typical Robot on a Slope

ABSTRACTIn this article, an adaptive neural delay feedback control strategy is proposed for the motion control of a two‐wheel self‐balancing robot (TWSBR) on a slope with an input delay. Based on the Lagrange equation, the dynamic model of the robot is derived. Given a target trajectory vector, the corresponding error system is obtained. An input delay and uncertainties are considered. First, the system with an input delay is transformed into a delay‐free one. Second, a quadratic performance optimization criterion is defined, and a linear quadratic regulator (LQR) controller is designed to minimize the error between the system's state vector and the target vector. Thirdly, an integral sliding mode controller is added to the LQR controller to enhance the system's robustness. To reduce the “chattering” phenomenon, an adaptive neural delay feedback control scheme is developed based on the adaptive learning of the uncertainties' upper bound by a radial basis function neural network (RBFNN). It is demonstrated that a relaxation process exists at the beginning of the upslope motion. As the input delay increases, the swing range of the center of gravity of the pendulum expands. The angle can converge to the steady state more quickly, but the relaxation time is still 0.031 s which has nothing to do with the input delay. An example of the back‐and‐forth motion of a TWSBR on a slope can verify an excellent agreement between theoretical analysis and numerical results.

Application of derivative and integral terminal sliding modes in leader-follower type systems"

Subject matter: The study focuses on the control methods for dr20 type robot swarms, specifically on the derivative and integral terminal sliding mode control combined with a nonlinear disturbance observer. The problem of effective swarm control is highly relevant in the current conditions of automation and robotics, especially in the context of performing complex tasks in limited space and in the presence of disturbances. Goal: The development and analysis of a simulation model for the movement of a robot swarm using advanced control methods to ensure system accuracy and stability. The research aims to improve the control methods for robot swarms, enhancing their efficiency and reliability in various operational conditions. Tasks: 1) Develop a simulation model of a robot swarm in the CoppeliaSimEDU environment, considering all necessary parameters for modeling real operating conditions. 2) Implement control algorithms for the leader and followers to maintain the swarm structure and avoid collisions. 3) Conduct a series of experiments to test the effectiveness of the proposed methods, analyzing the results in terms of stability and control accuracy. Methods: Modeling in CoppeliaSimEDU, implementing control algorithms based on derivative and integral terminal sliding mode control, applying a nonlinear disturbance observer to improve system stability. The applied methods allow for the consideration of various disturbances and ensure high control accuracy. Results: he proposed control model allows achieving high following accuracy and collision avoidance even in complex conditions. Experiments have shown that the control methods ensure the stability and accuracy of the robot swarm's movement, reducing the response time to external disturbances. The research results demonstrate that the use of derivative and integral terminal sliding mode control combined with a nonlinear disturbance observer significantly enhances the efficiency of multi-robot systems. Conclusions: The use of advanced control methods significantly improves the efficiency of multi-robot systems, ensuring their reliability and accuracy in real operating conditions. The proposed methods can be applied in various fields where the coordination of a large number of robots is required, including logistics, rescue operations, and environmental monitoring.

Optimization design method for typical grassland perception robot system

Optimization design method for typical grassland perception robot system

Recent progress in soft robots: principles, designs, and applications

Abstract With advancements in the manufacturing industry persisting, soft robots have experienced rapid development, progressively emerging as a pivotal focus in the future trajectory of robotic technology. As a new type of robot technology, soft robots have significant differences from traditional robots in terms of principles, driving methods, design control, and other aspects. Here, we sort out and summarize the latest developments in soft robotics. Firstly, typical principles and driving methods were introduced, including rope drive, variable stiffness drive (gas negative pressure, intelligent fluids, etc), electromagnetic drive, and so on. Secondly, the main materials and characteristics of soft robots are analyzed, including hydrogels, shape memory alloys, photosensitive materials, electromagnetic rheological elastomer, biodegradable materials, etc. Then, typical soft robot structures and processing methods were introduced, including fluid static skeleton structures, muscle fluid static skeleton structures, and others. Finally, the problems of soft robots are analyzed, and the future development direction and importance are summarized. This paper highlights the recent progress in smart functional materials, typical biomimetic structures, and assembly methods applicable to soft robots, which is expected to assist the development and advancement of the next generation of soft robots.

A New Method for Displacement Modelling of Serial Robots Using Finite Screw

Kinematics is a hot topic in robotic research, serving as a foundational step in the synthesis and analysis of robots. Forward kinematics and inverse kinematics are the prerequisite and foundation for motion control, trajectory planning, dynamic simulation, and precision guarantee of robotic manipulators. Both of them depend on the displacement models. Compared with the previous work, finite screw is proven to be the simplest and nonredundant mathematical tool for displacement description. Thus, it is used for displacement modelling of serial robots in this paper. Firstly, a finite-screw-based method for formulating displacement model is proposed, which is applicable for any serial robot. Secondly, the procedures for forward and inverse kinematics by solving the formulated displacement equation are discussed. Then, two typical serial robots with three translations and two rotations are taken as examples to illustrate the proposed method. Finally, through Matlab simulation, the obtained analytical expressions of kinematics are verified. The main contribution of the proposed method is that finite-screw-based displacement model is highly related with instantaneous-screw-based kinematic and dynamic models, providing an integrated modelling and analysis methodology for robotic mechanisms.

Entertainment type robots based on machine learning and game teaching mode applied in dance action planning of art teaching

We studied the use of machine learning models for training dance action models, collected dance action data, annotated and classified it, and established a training set for dance action models. We trained the training set to learn the feature representation and pattern recognition capabilities of dance actions. Through training and tuning the model, a model that can accurately recognize and generate dance movements was obtained. Evaluate the similarity between two dance movements and select the appropriate dance movements to form a smooth dance sequence. A planning algorithm was designed based on the kinematic and dynamic characteristics of robots to generate dance action paths suitable for the robot’s body conditions. Considering factors such as joint limitations, body stability, and smooth movement of the robot, generate a reasonable dance motion path while ensuring safety. Through on-site testing and data analysis of the system, it has been verified that it can effectively generate diverse and expressive dance movements, bringing a unique viewing experience to entertainment venues.

Моделювання системи стабілізації обладнання мобільного робота в умовах руху по місцевості з нахилом та нерівностями

The article is devoted to the development of a system of stabilization and guidance of equipment, which is installed on land-based small-scale mobile robots of the wheel type. During the operation of such objects, problems arise due to modes of movement, over-coming obstacles, movement on terrain with different types and profiles of the terrain. During such a movement, there are disturbances in the place of installation of the equip-ment, which leads to its deviation from the horizon plane. A stabilization system is used to ensure accuracy requirements in a wide range of movement speeds and operating condi-tions of mobile robots. In the article, the simulation of the stabilization system under the action of external disturbances caused by the influence of the movement of the mobile robot through terrain with a complex profile in combination with the inclination of the different steepness of the movement surface was carried out. A stabilization system simulation scheme with a basic structure and with an additionally introduced proportional-integrating controller was developed, realizations of various types of disturbances were generated by a combination of different inclination angles and different road profile classes. As a result of the simula-tion, the time realizations of the system’s response to the generated disturbances, which are the dependences of the stabilization error, were obtained, the root mean square devia-tions and the maximum value of the angle of deviation of the place of installation of the equipment from the horizon plane were determined. The results of the study showed that the system with an additionally introduced pro-portional-integrating regulator provides acceptable stabilization error values under the con-ditions of action of all considered types of disturbances. The obtained results will be used for the development of an adaptive digital system of stabilization of equipment installed on small-sized mobile robots of the wheel type.

Structural design and kinematic analysis study of ultrasonic flaw detection robot

Abstract A five-degree-of-freedom robot design scheme for liquid immersion ultrasonic flaw detection is proposed to address the challenges in complex surface ultrasonic flaw detection. To meet the requirements of underwater working environments, an XYZ+AB-type robot, which improves part of its structure, is adopted. A kinematic model of the robot is established using improved D-H parameters to obtain the forward and inverse kinematics of the robot. Based on the kinematic model, the simulation model of the robot is established by using the Matlab toolbox, which verifies the rationality of the design and the correctness of kinematics. The robot designed in this plan mainly targets thin-walled parts, such as aircraft skin and engine blades, with a repeat positioning accuracy of 0.01 mm and a detection speed of 120 mm/s. Compared with foreign high-degree-of-freedom penetrative flaw detection robots, the hardware cost of the robot in this plan can be reduced by half.

Research Status and Development Trend of Multi-arm Collaborative Robots

Abstract: Industrial robots are mainly used in metal forming, automotive, and electrical and electronics industries. After decades of unremitting efforts, industrial robots have achieved great success. However, problems such as low safety, weak environmental adaptability, and insufficient humancomputer interaction ability of industrial robots have greatly limited the application of industrial robots, and multi-arm collaborative robots came into being in this case. Multi-arm collaborative robots offer high flexibility and precision. Over the years, the application and development of multiarm collaborative robots have been paid more and more attention. This paper aims to summarize the patents related to multi-arm cooperative robots, including their principles, classification, latest progress and future development, in order to meet the needs of the real world. According to the structural characteristics of multi-arm collaborative robots and the requirements of multi-arm collaborative robots application field, the most typical mobile collaborative robots and stationary dual-arm collaborative robots in multi-arm collaborative robots are summarized. By investigating various patents of multi-arm collaborative robots the main problems of multi-arm collaborative robots are summarized and analyzed, such as collisions or conflicts between robotic arms, low power-to-weight ratio, loose structures, and heavy weight of the robot body. In addition, the development trend of multi-arm collaborative robots is also discussed. Multi-arm robots have broad prospects and potential in future applications and development. With the advancement of new technologies, multi-arm collaborative robots will become more efficient, intelligent, safe, and flexible. More relevant patents are expected to be invented in the future.

Non-Electrically Driven Acoustic Actuator

Nuclear power plants have high radiation levels and humans cannot work directly on them. Therefore, it is necessary to establish effective repair work methods. One promising approach is the use of disaster relief robots. However, strong radiation affects circuits and electronic devices. Because typical robots contain electrical circuits and are controlled by radio waves, they are difficult to use in highly radioactive environments. In this study, we propose a non-electrically driven acoustic actuator that does not use electronic circuits and is driven by sound waves. To realize this goal, we have investigated a sound wave drive using a cylindrical container.

Design and Validation of Payload: Weight for a Bioinspired Inch Worm Wall Climbing Robot (IWWCR) Using Coppeliasim

In this growing era technology robots are replacing the humans by performing many risky operations enhancing the safety factor of human life. Particularly while considering performing task at high rise building or any high-altitude jobs, the need of wall climbing robot emerges. There are various types of wall climbing robot classified based on its adhesive mechanism and locomotive methods. Out of the various available method, Bioinspired type Robot has its own unique feature specifically when we talk about softbot. Bio inspired robots mimics the locomotion or any other specific feature of living creatures In this paper, an novel approach is introduced for design and development of a Bio inspired Wall Climbing Robot (WCR) using a simulation software named Coppelialsim. An inch worm wall climbing robot is proposed mimicking the locomotion of inch worm is proposed as novel design. The design of the proposed WCR is validated with respect to payload(p): weight (w) value using the static and dynamic analysis both in simulation environment using coppeliasim software and real time experimental testing after fabrication. The flow of electromagnetic flux is further justified with the software called Finite Element Magnetic Method (FEMM) and the structural design of the proposed design is validated with respect to the Computer Aided Analysis (CAA) software. Thus, the proposed IWWCR possess the high p: w value when compared to all other existing bioinspired Wall climbing Robot

Features of the design and control of an underwater biomorphic robot of the tunniform type

The article describes the design and main dynamic characteristics of an underwater vehicle of the biomorphic (fish-like) type, which implements the tunniform type of locomotion for movement under water. The body of the device is made on the basis of a digital model of the body of yellowfin tuna. The movement is provided by a driv-ing device that simulates the operation of the tail fin of a fish. The robot's navigation on the surface and with a dive to a shallow depth is controlled by a remote control system, which allows you to change the dynamic characteris-tics (amplitude and frequency) of tail vibrations. In the experimental study, the dependencies of the speed of movement and energy consumption of the robot depending on these characteristics were obtained. In the theoreti-cal study, a computational model of the robot was obtained based on the solution of hydrodynamic equations. In computer modeling of swimming using the method of deformable nets, a good correspondence with experimental data was obtained. In addition, the hydrodynamic characteristics of the flow during the movement of the robot were investigated, as well as various features of the vibrations of the elements of the robot body when moving in a liquid were explained.

Nongradient-Based Tracking of Environmental Field Isolines in a Changing Medium by Dubins-Vehicle Type Robots

A non-holonomic robot of a Dubins-vehicle type moves in a changing resistant medium, like water or air. The objective is to exhibit the extension of a spatial phenomenon (e.g., a critically contaminated area) related to a dynamic environmental field (e.g., a distribution of the contaminant concentration). Specifically, the robot should arrive at a certain level set of the field and repeatedly sweep it afterwards. The field data comes exclusively from online and point-wise measurements of the field value at the current location of the robot. An additional problem is related to the significant uncertainty on the field and the medium, including their variation with time and the effect of the medium on the robot's motion. The conditions for the accomplishability of the mission objective are found under these uncertainties and constraints on the kinematics of the robot. A navigation algorithm is presented that solves the mission with a slight enhancement of these necessary conditions. The performance of the algorithm is rigorously justified by the non-local convergence result and validated by computer simulation tests with a 6-DOF catamaran-like vessel and real-world environmental data.

Development analysis of intelligent robots in manufacturing industry

With the continuous development of the manufacturing industry, the application of intelligent robots is becoming more and more extensive. Many emerging technologies can be applied to intelligent robots. Typical intelligent robots still have room for further improvement in terms of automatic control and adaptation to the surrounding environment. And independent learning of production tasks and realization of human-computer interaction is the future development direction of industrial robots. In view of these deficiencies, the development of intelligent robots is particularly important. This paper introduces the application fields, key technologies and needs of intelligent robots, and explains the important position of intelligent robots in the future manufacturing industry. The functions of intelligent robot control, perception and human-computer interaction based on artificial intelligence technology are studied. Possible future challenges, limitations and problems will be presented at the end of this paper.

SOFTWARE IMPLEMENTATION OF THE SPIDER4LEGS MOBILE ROBOT

The objective of this paper is to develop the control system for driving a mobile robot using the Arduino board, controlled by an ESP 32 logic processor, named SPIDER4LEGS. In order to be used in the oil and gas industry, for example for the internal inspection of oil product transport pipelines, the four-legged spider type robot version was chosen, especially due to the special mobility it offers. The created control system must ensure the control of the movement of the kinematic couplings in the construction of the legs, the monitoring and maintenance of stability as well as the establishment of the optimal stepping sequences. The control system is simple and it use the Wi-Fi communication, because it is the best way to transfer data between the robot and the operator, offering a lot of advantages.

Psychological Aspects and Opinions about Some Typical Robots and Robots in General

It is a well-known challenge for robot designers, developers and manufacturers that certain personalities and characteristics of people can result in resistance towards or outright refusal of human-robot interactions. With this in mind, we conducted qualitative research to collect information about what people think about some typical robots (Spot, Atlas, Lovot). Fifty-eight participants were interviewed during focus group sessions. Based on responses, we could conclude that the Spot robot was considered ugly and primarily useless, the Atlas was regarded neutrally and in Lovot’s case participants blamed developers of such robots and societies that encouraged this type of robots. Our main contribution is qualitative data about opinions of these robots, which can be crucial feedback information for developers.

A novel saturated PID‐type observer‐based controller for wheeled mobile robots with a guaranteed performance considering path curvature

AbstractThis article proposes a novel saturated PID‐type formation controller for a class of nonholonomic wheeled mobile robots (WMRs) of type (m, s) with mobility m and steerability s. Since the path curvature causes a severe deviation of the followers from the leaders' trajectory in the corners, a new definition of output equations is suggested to construct the coordinates of a virtual reference point in the front of each follower based on the concept of the extended look‐ahead control that utilizes a corrective angle to compensate the trajectory curvature efficiently. A nonlinear transformation and the robot's kinematic and dynamic equations are heuristically combined to develop a novel second‐order Euler–Lagrange formulation of unconstrained errors from constrained errors. Then, a novel saturated PID‐type controller is proposed for WMRs to build a desirable formation with a prescribed performance. An innovative nonlinear observer is presented to estimate followers' velocities. An efficient mixture of a radial basis function neural network (RBFNN) and an adaptive mechanism is proposed to compensate for model uncertainties, external disturbances, and network approximation errors. Lyapunov's direct method verifies semi‐global uniform ultimate boundedness stability by estimating a gain‐dependent region of attraction. Numerical simulations finally show the efficiency of the proposed controller.

Animal robots in the African wilderness: Lessons learned and outlook for field robotics.

In early 2016, we had the opportunity to test a pair of sprawling posture robots, one designed to mimic a crocodile and another designed to mimic a monitor lizard, along the banks of the Nile River in Uganda, Africa. These robots were developed uniquely for a documentary by the BBC called Spy in the Wild and fell at the intersection of our interests in developing robots to study animals and robots for disaster response and other missions in challenging environments. The documentary required that these robots not only walk and swim in the same harsh, natural environments as the animals that they were modeled on and film up close but also move and even look exactly like the real animals from an aesthetic perspective. This pushed us to take a fundamentally different approach to the design and building of biorobots compared with our typical laboratory-residing robots, in addition to collaborating with sculpting artists to enhance our robots' aesthetics. The robots needed to be designed on the basis of a systematic study of data on the model specimens, be fabricated rapidly, and be reliable and robust enough to handle what the wild would throw at them. Here, we share the research efforts of this collaboration, the design specifications of the robots' hardware and software, the lessons learned from testing these robots in the field first hand, and how the eye-opening experience shaped our subsequent work on disaster response robotics and biorobotics for challenging amphibious scenarios.

Moffuly-II: A Robot that Hugs and Rubs Heads

Although whole-body touch interaction, e.g., hugging, is essential for human beings from various perspectives, not everyone can interact with intimate friends/family due to physical separations caused by such circumstances as pandemics, geographical constraints, etc. The possibility of human–robot touch interaction is one approach that ameliorates such missing touch interactions. In this study, we developed a robot named Moffuly-II, that hugs people and rubs their heads during a hug because head-touching behaviors are typical affective interactions between intimate persons. Moffuly-II is a large huggable teddy-bear type robot and it has enough capability to both hug and touch the head. We conducted an experiment with human participants and evaluated the effectiveness of combining intra-hug gestures (squeezing and rubbing) and the touch area (back and head). From experimental results, we identified the advantages of implementing rubbing gestures compared to squeezing gestures and some of the advantages of head-touching behaviors compared to back-touching behaviors.

Design and analysis of extensible differential‐speed helical drive pipe dredging robot

AbstractTo replace the manual labour involved in pipe dredging, this study proposes an extensible differential‐speed helical drive pipe dredging robot. The robot can be released in an inspection well to remove silt from a sewer pipe for routine maintenance. This robot consists of a differential drive system, an extensible helical drive element, a dredging plate, and a retractable feed screw. The extensible helical drive element is used to address the problem of diameter differences between the inspection well, sewage well, and drainpipe. The problem of dynamical dredging working conditions is studied by a detailed design of mechanical system. To analyze the operational process of the proposed robot, a virtual prototype is established using the ADAMS software. The simulation results show that the proposed robot can achieve the slurry‐flow operating state because of its reasonable structure and cutting, mixing, and conveying silt functions. The result presented in this study can help to improve energy efficiency and provide technical assistance for same type robots.