In human–robot cooperative industrial manipulators, safety issues are crucial. To control force safely, contact force information is necessary. Since force/torque sensors are expensive and hard to integrate into the robot design, estimation methods are used to estimate external forces. In this paper, the goal is to estimate external forces acting on the end-effector of the robot. The forces at the task space affect the joint space torques. Therefore, by employing an observer to estimate the torques, the task space forces can be obtained. To accomplish this, loadcells are employed to compute the net torques at the joints. The considered observers are extended Kalman filter (EKF) and nonlinear disturbance observer (NDOB). Utilizing the computed torque obtained based on the loadcells measurements and the observer, the estimates of external torques applied on the robot end-effector can be achieved. Moreover, to improve the degree of safety, an algorithm is proposed to distinguish between intentional contact force from an operator and accidental collisions. The proposed algorithms are demonstrated on a robot, namely WallMoBot, which is designed to help the operator to install heavy glass panels. Simulation results and preliminary experimental results are presented to demonstrate the effectiveness of the proposed methods in estimating the joint space torques generated by the external forces applied to the WallMoBot end-effector and to distinguish between the user-input force and accidental collisions.

Industrial applications that involve working on and moving a heavy load or that constrain the operator to work in uncomfortable positions can take advantage of the assistance of a robotic assistant. In this paper, we propose an architecture for an ergonomic human–robot co-manipulation of objects of various shapes and weight. The object is carried by the robot and, thanks to an ergonomic planner, is positioned in the most comfortable way for the user. Furthermore, thanks to an admittance control with payload compensation, the user can easily adjust the position of the object for working on different parts of it. The proposed architecture is experimentally validated in a robotic cell including an ABB industrial robot.

This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot’s model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance.

This paper investigates a battery snap-in operation performed by an industrial robot. The snap-fit phenomenon is experienced during the insertion of batteries into the battery holder. In order to understand the nature of the snap-fit phenomenon, the large displacement but small deformation theory is used to model the insertion operation. The stability of equilibrium points is analysed in order to determine the so-called trip point. The purpose of the investigation is to augment the displacement control of the robot with force feedback. A microcontroller-based measurement system is implemented to provide the force feedback. The proposed method is valid for a class of snap-fit problems not only for the investigated specific one.

This paper presents the computation of the safe working zone (SWZ) of a parallel manipulator having three degrees of freedom. The SWZ is defined as a continuous subset of the workspace, wherein the manipulator does not suffer any singularity, and is also free from the issues of link interference and physical limits on its joints. The proposed theory is illustrated via application to two parallel manipulators: a planar 3-R̲RR manipulator and a spatial manipulator, namely, MaPaMan-I. It is also shown how the analyses can be applied to any parallel manipulator having three degrees of freedom, planar or spatial.

The demand for rehabilitation services has increased in recent years due to population aging. Due to the limitations of therapist’s time and healthcare resources, robot-assisted rehabilitation is becoming an appealing, powerful, and economical solution. In this paper, we propose a solution that combines Learning from Demonstration (LfD) and robotic rehabilitation to save the therapist’s time and reduce the therapy costs when the therapy involves periodic or semi-periodic motions.We begin by modeling the therapist’s behavior (a periodic or semi-periodic motion) using a Fourier Series (FS). Later, when the therapist is no longer involved, the system reproduces the learned behavior modeled by the FS using a robot. A second goal is to combine the above with Gaussian Mixture Model (GMM) and Gaussian Mixture Regression (GMR) to obtain a more flexible and generalizable reproduction of the therapist’s behavior. This algorithm allows learning and imitating repetitive movement tasks. Our experimental results show the application of these algorithms to repetitive motion task.

This paper considers the path planning problem for deployment and collection of a marsupial vehicle system which consists of a ground mobile robot and two aerial flying robots. The ground mobile robot, usually unmanned ground vehicle (UGV), as a carrier, is able to deploy and harvest the aerial flying robots, and each aerial flying robot, usually unmanned aerial vehicles (UAVs), takes off from and lands on the carrier. At the same time, owing to the limited duration in the air in one flight, UAVs should return to the ground mobile robot timely for its energy-saving and recharge. This work is motivated by cooperative search and reconnaissance missions in the field of heterogeneous robot system. Especially, some targets with given positions are assumed to be visited by any of the UAVs. For the cooperative path planning problem, this paper establishes a mathematical model to solve the path of two UAVs and UGV. Many real constraints including the maximum speed of two UAVs and UGV, the minimum charging time of two UAVs, the maximum hovering time of UAVs, and the dynamic constraints among UAVs and UGV are considered. The objective function is constructed by minimizing the time for completing the whole mission. Finally, the path planning problem of the robot system is transformed into a multi-constrained optimization problem, and then the particle swarm optimization algorithm is used to obtain the path planning results. Simulations and comparisons verify the feasibility and effectiveness of the proposed method.

This paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm × 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.

This paper presents an advanced robust active disturbance rejection control (ADRC) for flexible link manipulator (FLM) to track desired trajectories in the joint space and minimize the link’s vibrations. It has been shown that the ADRC technique has a very good disturbance rejection capability. Both the internal dynamics and the external disturbances can be estimated and compensated in real time. The proposed robust ADRC control law is developed to solve the problems existing in the original version of the ADRC related to the disturbance estimation errors and the variation of the parameters. Indeed, these parameters cannot be included in the existing disturbances and then be estimated by the extended state observer. The proposed control law is based on the sliding mode technique, which considers the uncertainties in the control gains and disturbance estimation errors. Lyapunov theory is used to prove the closed-loop stability of the system. The proposed control strategy is simulated and tested experimentally on one FLM. The effect of the observer bandwidth on the system performance is simulated and studied to select the best values of the bandwidth frequency. The simulation and experimental results show that the proposed robust ADRC has better performance than the traditional ADRC.

There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

The aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic review of related research on this topic is conducted. First, various types of structure designs of aerial manipulators are listed out. Subsequently, the modeling and control methods are introduced in detail from the perspective of two types of typical application cases: free-flight and motion-restricted operations. Finally, challenges for future research are presented.

This paper describes a modeling approach to compute the lumped parameter hydrodynamic derivative matrices of an underwater multi-hull vehicle. The vehicle, modeled as a multi-body underwater system and denoted as cluster, can be composed by heterogeneous bodies with known dynamic parameters, rigidly connected. The nonlinear dynamic equations of the cluster and its parameters are derived by means of a modular approach, based on the composition of single basic elements. The ultimate objective is to derive a mathematical description of the multi-hull system that captures its most significant dynamics allowing to design model-based motion controllers and navigation filters. The modular nature of the resulting model can be exploited, by example, when control reconfiguration is to be dealt with in the presence of (possibly multiple) failures. The numerical simulation of a hypothetical cluster is presented and discussed.

In this paper, design, modeling, and control of a grip-based climbing robot are performed, which consists of a triangular chassis and three actuating legs. This robot can climb through any trusses, pipeline, and scaffolds structures and can perform any inspectional and operational tasks in the high height which decreases the falling danger of operation and increases the safety of the workers. The proposed robot can be substituted for the workers to decrease the risk of death danger and increase the safety of the operation. Since these kinds of infrastructures are truss shaped, the traditional wheel-based climbing robots are not able to travel through these structures. Therefore, in this paper, a grip-based climbing robot is designed to accomplish the climbing process through the trusses and infrastructures in order to perform inspecting and manipulating tasks. Hence, a proper mechanism for the mentioned robot is designed and its related kinematic and kinetic models are developed. Robot modeling is investigated for two different modes including climbing and manipulating phases. Considering the redundancy of the proposed robot and the parallel mechanism employed in it, the active joints are selected in a proper way and its path planning is performed to accomplish the required missions. Concerning the climbing mode, the required computed torque method (CTM) is calculated by the inverse dynamics of the robot. However, for the manipulation mode, after path planning, two controlling strategies are employed, including feedback linearization (FBL) and adaptive force control, and their results are compared as well. It is shown that the latter case is preferable since the external forces implemented on the end effector tool is not exactly predetermined and thus, the controller should adapt the robot with the exerted force pattern of the manipulator. The modeling correctness is investigated by performing some analytic and comparative simulation scenarios in the MATLAB and comparing the results with the MSC-ADAMS ones, for both climbing and manipulating phases. The efficiency of the designed controller is also proved by implementing an unknown force pattern on the manipulator to check its efficiency toward estimating the mentioned implemented forces and compensating the errors. It is shown that the designed robot can successfully climb through a truss and perform its operating task by the aid of the employed adaptive controller in an accurate way.

Cooperative transportation by human and robotic coworkers constitutes a challenging research field that could lead to promising technological achievements. Toward this direction, the present work demonstrates that, under a leader–follower architecture, where the human determines the object’s desired trajectory, complex cooperative object manipulation with minimal human effort may be achieved. More specifically, the robot estimates the object’s desired motion via a prescribed performance estimation law that drives the estimation error to an arbitrarily small residual set. Subsequently, the motion intention estimation is utilized in the object dynamics to determine the interaction force between the human and the object. Human effort reduction is then achieved via an impedance control scheme that employs the aforementioned estimations. The feedback relies exclusively on the robot’s force/torque, position as well as velocity measurements at its end effector, without incorporating any other information on the task. Moreover, an adaptive control scheme is adopted to relax the need for exact knowledge of the object dynamics. Finally, an extension for multiple robotic coworkers is studied and verified via simulation, while extensive experimental results for the single robot case clarify the proposed method and corroborate its efficiency.

Today, automatic diving robots are used for research, inspection, and maintenance, extensively. Control of autonomous underwater robots (AUVs) is challenging due to their nonlinear dynamics, uncertain models, and the system underactuation. Data collection using underwater robots is increasing within the oceanographic research community. Also, the ability to navigate and cooperate in a group of robots has many advantages compared with individual navigations. Among them, the effectiveness of using resources, the possibility of robots’ collaboration, increasing reliability, and robustness to defects can be pointed out. In this paper, the formation control of underwater robots has been studied. First, the kinematic model of the AUV is presented. Next, a novel Lyapunov-based tracking control algorithm is investigated for the leader robot. Subsequently, a control law is designed using Lyapunov theory and feedback linearization techniques to navigate a group of follower robots in a desired formation associated with the leader and follow it simultaneously. In the obtained results for different reference paths and various formations, the effectiveness of the proposed algorithm is represented.

Steep slope vineyards are a complex scenario for the development of ground robots. Planning a safe robot trajectory is one of the biggest challenges in this scenario, characterized by irregular surfaces and strong slopes (more than 35°). Moving the robot through a pile of stones, spots with high slope or/and with wrong robot yaw may result in an abrupt fall of the robot, damaging the equipment and centenary vines, and sometimes imposing injuries to humans. This paper presents a novel approach for path planning aware of center of mass of the robot for application in sloppy terrains. Agricultural robotic path planning (AgRobPP) is a framework that considers the A* algorithm by expanding inner functions to deal with three main inputs: multi-layer occupation grid map, altitude map and robot’s center of mass. This multi-layer grid map is updated by obstacles taking into account the terrain slope and maximum robot posture. AgRobPP is also extended with algorithms for local trajectory replanning during the execution of a trajectory that is blocked by the presence of an obstacle, always assuring the safety of the re-planned path. AgRobPP has a novel PointCloud translator algorithm called PointCloud to grid map and digital elevation model (PC2GD), which extracts the occupation grid map and digital elevation model from a PointCloud. This can be used in AgRobPP core algorithms and farm management intelligent systems as well. AgRobPP algorithms demonstrate a great performance with the real data acquired from AgRob V16, a robotic platform developed for autonomous navigation in steep slope vineyards.

A dual-arm space robot has large potentials in on-orbit servicing. However, there exist multiple dynamic coupling effects between the two arms, each arm, and the base, bringing great challenges to the trajectory planning and dynamic control of the dual-arm space robotic system. In this paper, we propose a dynamic coupling modeling and analysis method for a dual-arm space robot. Firstly, according to the conservation principle of the linear and angular momentum, the dynamic coupling between the base and each manipulator is deduced. The dynamic coupling factor is then defined to evaluate the dynamic coupling degree. Secondly, the dynamic coupling equations between the two arms, each arm, and the base are deduced, respectively. The dynamic coupling factor is suitable not only for single-arm space robots but also for multi-arm space robot systems. Finally, the multiple coupling effects of the dual-arm space robotic system are analyzed in detail through typical cases. Simulation results verified the proposed method.

In this paper, we focus on the configuration design of a reconfigurable robot that merges the functions of wheels, tracks, and legs together. A deformable rim is utilized to make the robot wheel reconfigurable to change its locomotion mode. Three rules of configuration design to achieve reconfiguration between different modes are proposed: (1) in wheel mode, the track wheel set should be hidden inside the wheel rim; (2) in track/leg mode, the folded wheel rim should be hidden inside the caterpillar loop; (3) the circumference of the wheel rim in wheel mode should be equal to the length of the track ring in track mode. According to these rules, the configuration of the deformable rim, track wheel set, and telescopic spoke are analyzed and designed. A prototype of the reconfigurable wheel is fabricated by three-dimensional printing, and its functions of locomotion in different modes, the switch between different modes, and its load-bearing ability are tested, verifying the effectiveness of the configuration design. Furthermore, a prototype of the reconfigurable robot is manufactured by computerized numerical control (CNC) machining to verify the structural design of the reconfigurable wheel. Compared to traditional hybrid robots with separate wheels, tracks, and legs, this reconfigurable design lends the multimodal robot both excellent terrain adaptability and a compact structure; thus, it can be widely used as a universal mobile platform in search and rescue missions and explosive object disposal missions.

This paper investigates artificial neural network (ANN)-based simulators as an alternative to physics-based approaches for evolving controllers in simulation for a complex snake-like robot. Prior research has been limited to robots or controllers that are relatively simple. Benchmarks are performed in order to identify effective simulator topologies. Additionally, various controller evolution strategies are proposed, investigated and compared. Using ANN-based simulators for controller fitness estimation during controller evolution is demonstrated to be a viable approach for the high-dimensional problem specified in this work.

This paper deals with a continuous design task of a planar cable robot used in a gait training machine called the cable-driven legs trainer. The design of cable robots requires satisfying two constraints, that is, tensions in the cables must remain non-negative, and cable interferences should be avoided. The carried design approach is based on interval analysis, which is one of the most efficient methods to obtain certified results. The constraints of non-negative tensions and cable to end-effector interference are solved using interval analysis tools. By means of a dynamic simulation, the reached workspace and the produced wrenches of the cable robot are evaluated as a set of interval vectors. An optimization algorithm is then designed to optimize the cable robot structure for the gait training machine. The robot is designed to produce non-negative tensions in the cables and to avoid collision at all times within the desired workspace and under the required external loads.