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Robotics
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Advances in Robotics and Mechatronics
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Advances in Robotics and Mechatronics

A special issue of Robotics (ISSN 2218-6581).

Deadline for manuscript submissions: closed (25 February 2020) | Viewed by 45994

Special Issue Editors

Prof. Dr. Yukio Takeda

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Guest Editor
Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152-8552, Japan
Interests: mechanical systems design; kinematics; dynamics; robotics; assistive devices; machine elements; actuators
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Giuseppe Carbone

E-Mail Website
Guest Editor
Department of Mechanical, Energy and Management Engineering, Università della Calabria, 87036 Rende, Italy
Interests: robotics; robot design; mechatronics; walking hexapod; design procedure; mechanics of machinery; leg–wheel
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Shaoping Bai

E-Mail Website
Guest Editor
Department of Materials and Production, Aalborg University, Fib. 16, 9220 Aalborg, Denmark
Interests: robotics; parallel robots; exoskeletons; linkages
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Robotics and Mechatronics technologies have become essential to developing devices/machines to support human life and society. Examples include assistive devices for elderly and handicapped persons and cooperative robots for workers in factories and automation in unstructured environments, such as construction fields and farms.

This Special Issue will contain a selection of the best papers that were presented at the 15th IFToMM (International Federation for the Promotion of Mechanism and Machine Science)  World Congress on recent advances in Robotics and Mechatronics. It will present novel results and solutions.

Prof. Dr. Yukio Takeda
Prof. Dr. Giuseppe Carbone
Prof. Dr. Shaoping Bai
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Robotics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1800 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • robotics;
  • mechatronics;
  • kinematic analysis and synthesis;
  • mechanism design;
  • sensors and actuators;
  • modelling and simulation;
  • control issues;
  • navigation and motion planning;
  • applications of robots and mechatronics systems.

Published Papers (7 papers)

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Editorial

Jump to: Research

4 pages, 157 KiB  
Editorial
Advances in Robotics and Mechatronics
by Yukio Takeda, Giuseppe Carbone and Shaoping Bai
Robotics 2020, 9(2), 36; https://doi.org/10.3390/robotics9020036 - 18 May 2020
Cited by 1 | Viewed by 4337
Abstract
Robotics and Mechatronics technologies have become essential for developing devices/machines to support human life and society [...] Full article
(This article belongs to the Special Issue Advances in Robotics and Mechatronics)

Research

Jump to: Editorial

12 pages, 3922 KiB  
Article
Static Balancing of Wheeled-legged Hexapod Robots
by Ernesto Christian Orozco-Magdaleno, Daniele Cafolla, Eduardo Castillo-Castaneda and Giuseppe Carbone
Robotics 2020, 9(2), 23; https://doi.org/10.3390/robotics9020023 - 07 Apr 2020
Cited by 18 | Viewed by 6253
Abstract
Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Given the [...] Read more.
Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Given the wide range of feasible operations, one of the key operation planning issues is related to the robot balancing during motion tasks. Usually this problem is related with the pose of the robot’s center of mass, which can be addressed using different mathematical techniques. This paper proposes a new practical technique for balancing wheeled-legged hexapod robots, where a Biodex Balance System model SD (for static & dynamic) is used to obtain the effective position of the center of mass, thus it can be recalculated to its optimal position. Experimental tests are carried out to evaluate the effectiveness of this technique and modify and improve the position of hexapod robots’ center of mass. Full article
(This article belongs to the Special Issue Advances in Robotics and Mechatronics)
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22 pages, 7713 KiB  
Article
Classification of All Non-Isomorphic Regular and Cuspidal Arm Anatomies in an Orthogonal Metamorphic Manipulator
by Christos Koukos-Papagiannis, Vassilis Moulianitis and Nikos Aspragathos
Robotics 2020, 9(2), 20; https://doi.org/10.3390/robotics9020020 - 02 Apr 2020
Cited by 2 | Viewed by 5153
Abstract
This paper proposes a classification of all non-isomorphic anatomies of an orthogonal metamorphic manipulator according to the topology of workspace considering cusps and nodes. Using symbolic algebra, a general kinematics polynomial equation is formulated, and the closed-form parametric solution of the inverse kinematics [...] Read more.
This paper proposes a classification of all non-isomorphic anatomies of an orthogonal metamorphic manipulator according to the topology of workspace considering cusps and nodes. Using symbolic algebra, a general kinematics polynomial equation is formulated, and the closed-form parametric solution of the inverse kinematics is obtained for the coming anatomies. The metamorphic design space was disjointed into eight distinct subspaces with the same number of cusps and nodes plotting the bifurcating and strict surfaces in a cartesian coordinate system { θ π 1 , θ π 2 , d 4 } . In addition, several non-singular, smooth and continuous trajectories are simulated to show the importance of this classification. Full article
(This article belongs to the Special Issue Advances in Robotics and Mechatronics)
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18 pages, 2495 KiB  
Article
Controlling Liquid Slosh by Applying Optimal Operating-Speed-Dependent Motion Profiles
by Clemens Troll, Sven Tietze and Jens-Peter Majschak
Robotics 2020, 9(1), 18; https://doi.org/10.3390/robotics9010018 - 23 Mar 2020
Cited by 10 | Viewed by 4409
Abstract
In this paper, an investigation is presented that demonstrates the application of a new approach for enabling the reduction of liquid slosh by implementing optimized motion profiles over a continuous range of operating speeds. Liquid slosh occurs in the packaging process of beverages. [...] Read more.
In this paper, an investigation is presented that demonstrates the application of a new approach for enabling the reduction of liquid slosh by implementing optimized motion profiles over a continuous range of operating speeds. Liquid slosh occurs in the packaging process of beverages. Starting by creating a dynamic process model, optimal control theory is applied for calculating optimal motion profiles that minimize residual vibration. Subsequently, the difficulty of operating speed dependency of the herewith synthesized motion profiles is examined. An approach in which the optimal motion profiles are consolidated into a characteristic map of motion specifications, which can be executed by a programmable logic controller in real time, is discussed. Eventually, the success of this novel approach is demonstrated by the comparison with state-of-the-art motion profiles and conventional motion implementation. Full article
(This article belongs to the Special Issue Advances in Robotics and Mechatronics)
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13 pages, 20705 KiB  
Article
Cobot with Prismatic Compliant Joint Intended for Doppler Sonography
by Juan Sandoval, Med Amine Laribi, Saïd Zeghloul, Marc Arsicault and Jean-Michel Guilhem
Robotics 2020, 9(1), 14; https://doi.org/10.3390/robotics9010014 - 16 Mar 2020
Cited by 13 | Viewed by 6140
Abstract
This paper deals with a collaborative robot, i.e., cobot, coupled with a new prismatic compliant joint (PCJ) at its end-effector. The proposed collaborative solution is intended for Doppler sonography to prevent musculoskeletal disorders issues. On one hand, the Doppler sonographer’s postures are investigated [...] Read more.
This paper deals with a collaborative robot, i.e., cobot, coupled with a new prismatic compliant joint (PCJ) at its end-effector. The proposed collaborative solution is intended for Doppler sonography to prevent musculoskeletal disorders issues. On one hand, the Doppler sonographer’s postures are investigated based on motion capture use during the arteries examination. This study highlighted that configurations adopted by angiologists lead to the musculoskeletal disorder. On the other hand, the proposed PCJ with variable stiffness gives an intrinsic compliance to the cobot handling the probe. This feature allows preserving the human safety when both human and cobot share a common workspace. The effectiveness of the proposed solution is experimentally validated through a 7-DoF Franka Emika robot virtually coupled with the PCJ, during the execution of a trajectory performed during a Doppler ultrasound exam. The impact force criterion is considered as a safety performance. Full article
(This article belongs to the Special Issue Advances in Robotics and Mechatronics)
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16 pages, 9384 KiB  
Article
Design of a UGV Powered by Solar Energy for Precision Agriculture
by Giuseppe Quaglia, Carmen Visconte, Leonardo Sabatino Scimmi, Matteo Melchiorre, Paride Cavallone and Stefano Pastorelli
Robotics 2020, 9(1), 13; https://doi.org/10.3390/robotics9010013 - 13 Mar 2020
Cited by 37 | Viewed by 11607
Abstract
In this paper, a novel UGV (unmanned ground vehicle) for precision agriculture, named “Agri.q,” is presented. The Agri.q has a multiple degrees of freedom positioning mechanism and it is equipped with a robotic arm and vision sensors, which allow to challenge irregular terrains [...] Read more.
In this paper, a novel UGV (unmanned ground vehicle) for precision agriculture, named “Agri.q,” is presented. The Agri.q has a multiple degrees of freedom positioning mechanism and it is equipped with a robotic arm and vision sensors, which allow to challenge irregular terrains and to perform precision field operations with perception. In particular, the integration of a 7 DOFs (degrees of freedom) manipulator and a mobile frame results in a reconfigurable workspace, which opens to samples collection and inspection in non-structured environments. Moreover, Agri.q mounts an orientable landing platform for drones which is made of solar panels, enabling multi-robot strategies and solar power storage, with a view to sustainable energy. In fact, the device will assume a central role in a more complex automated system for agriculture, that includes the use of UAV (unmanned aerial vehicle) and UGV for coordinated field monitoring and servicing. The electronics of the device is also discussed, since Agri.q should be ready to send-receive data to move autonomously or to be remotely controlled by means of dedicated processing units and transmitter-receiver modules. This paper collects all these elements and shows the advances of the previous works, describing the design process of the mechatronic system and showing the realization phase, whose outcome is the physical prototype. Full article
(This article belongs to the Special Issue Advances in Robotics and Mechatronics)
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13 pages, 6856 KiB  
Article
Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer
by Daniel Sanchez, Weiwei Wan and Kensuke Harada
Robotics 2020, 9(1), 11; https://doi.org/10.3390/robotics9010011 - 06 Mar 2020
Cited by 5 | Viewed by 7040
Abstract
Handling and maneuvering tools across a robot workspace is a challenging task that often requires the implementation of constrained motion planning. In the case of wired or tethered tools, their maneuvering becomes considerably harder by the tool cable. If the cable presence is [...] Read more.
Handling and maneuvering tools across a robot workspace is a challenging task that often requires the implementation of constrained motion planning. In the case of wired or tethered tools, their maneuvering becomes considerably harder by the tool cable. If the cable presence is not considered, the robot motions may make the cable become entangled with the robot arms or elements of its workspace, causing accidents or unnecessary strain on the robot and the tool. Furthermore, the behavior of the tool cable during manipulation and its degree of entanglement around the robot are difficult to predict. The present paper introduces a constrained manipulation planner for dual-armed tethered tool manipulation involving tool re-grasping. Our solution employs a tool balancer to straighten the tool cable and facilitate the cable deformation problem. The planner predicts the cable states during manipulation and restricts the robot motions in order to avoid cable entanglements and collisions while performing tool re-posing tasks. Furthermore, the planner also applies orientational constraints to limit the cable bending, reducing the torque and stress suffered by the robot due to the cable tension. Simulations and real-world experiments validated the presented method. Full article
(This article belongs to the Special Issue Advances in Robotics and Mechatronics)
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