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Robotics
Scopus
ISSN 2218-6581 · MDPI AG · 1.411 artikel di indeks
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Artikel Jurnal Teks lengkap
Dual-Detector Vision and Depth-Aware Back-Projection for Accurate Apple Detection and 3D Localisation for Robotic Harvesting
Accurate apple detection and precise three-dimensional (3D) localisation are essential for autonomous robotic harvesting in orchard environments, where occlusion, illumination variation, depth noise, and the similar colour appearance of fruits and surrounding leaves present significant challenges…
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Modeling of a 4-DOF Flexible Laparoscopic Instrument for Robot-Assisted Minimally Invasive Surgery
Background: Flexible surgical instruments for Robot-Assisted Minimally Invasive Surgery (RAMIS) face a critical limitation: the inability to rotate the distal head while the instrument is in a bent configuration, which restricts the maneuverability in narrow surgical workspaces. Methods: This paper…
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Bio-Adaptive Robot Control: Integrating Biometric Feedback and Gesture-Based Interfaces for Intuitive Human–Robot Interaction (HRI)
AI-driven assistance can help the user perform complex teleoperated tasks, introduce autonomous patterns, or adapt the workbench to objects of interest. On the other hand, the level of assistance should be responsive to the user’s response and adapt accordingly to promote a positive and effective…
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Mathematical Modeling of Passive and Active Tensions in Biological Muscles for Soft Robotic Actuators
Biological muscles generate tension from the combined contribution of the passive elastic recoil and the actively controlled contractile mechanisms. Understanding and replicating these passive and active tensions is necessary and beneficial for designing soft robotic actuators that emulate…
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Nonzero-Sum Game-Based Modular Manipulator Optimal Tracking Control: Performance-Index Function Without Control Input
To address the issue that the performance-index function encompassing both dynamic and control processes in traditional adaptive dynamic programming (ADP) cannot be optimized as time approaches infinity, this paper proposes an optimal tracking control method for a modular manipulator based on a…
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Trajectory Shaping to Reproduce Rod Tip Vibration Suppression in the Rebound Phenomenon of Fly-Casting
Fly-casting is a throwing technique in which a flexible rod is used to cast a lightweight line. In skilled fly-casting, a phenomenon known as the rebound phenomenon is observed, where the residual vibration of the rod tip is suppressed by the re-acceleration of the rod handle during the rod-stop…
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An Autonomous Robotic System for Object Retrieval and Delivery: Enhancing Independence for Users Living with Disability and Older Adults
As the global population ages, there is a growing need for assistive technologies to help older adults maintain their independence. This work presents a cost-effective autonomous socially assistive robot designed for object retrieval and delivery, enhancing accessibility in home environments. The…
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Instance Segmentation in Autonomous Log Grasping Using EfficientViT-SAM MP-Former
Segmenting individual timber logs in robotic grasping scenarios poses significant challenges due to cluttered arrangements, overlapping geometries, and visually uniform textures, requiring instance segmentation models that balance accuracy and computational efficiency. In this work, we study the…
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Beyond Visual and Force Feedback: Role of Vibrotactile and Auditory Cues in Robot Teleoperated Assembly
Reliable detection of contact states, such as the “mating” of connectors, is crucial for high-quality teleoperated assembly. Conventional systems relying solely on visual and continuous force feedback often fail to convey these discrete high-frequency transients due to the limited high-frequency…
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Performance Evaluation of Cable-Driven Wrench Applicators: Geometric and Experimental Analysis
Cable-driven wrench applicators (CDWAs) are parallel robotic systems that apply controlled wrenches to the robot end-effector through cable actuation. The presented study introduces a framework for the performance evaluation of CDWAs based on dedicated metrics. It focuses on the geometric analysis…
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Extended Operational Space Kinematics, Dynamics, and Control of Redundant Non-Serial Compound Robotic Manipulators
An extended operational space kinematics and dynamics formulation is presented for the control of redundant non-serial compound robotic manipulators. A broad spectrum of high-load-capacity non-serial manipulators used in earth moving, material handling, and construction applications is addressed…
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Patient Acceptability of Automated Robotic Ultrasound by Patient Profile
Robotic ultrasound (US) has emerged as a promising solution to enhance the accuracy, consistency, and accessibility of US examinations. Although many studies have proposed various technologies toward full automation, patient acceptance of the robotic US system has not been discussed. This study…
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Scaling Functional Electrical Stimulation Control for Diverse Users Through Offline Distributional Reinforcement Learning
Functional Electrical Stimulation (FES) can restore motor function; however, achieving precise multi-joint control remains challenging due to nonlinear muscle dynamics and fatigue. Reinforcement Learning (RL) offers a promising solution, but practical deployment is hindered by the need for…
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Visual and Visual–Inertial SLAM for UGV Navigation in Unstructured Natural Environments: A Survey of Challenges and Deep Learning Advances
Localization and mapping remain critical challenges for Unmanned Ground Vehicles (UGVs) operating in unstructured natural environments, such as forests and agricultural fields. While Visual SLAM (VSLAM) and Visual–Inertial SLAM (VI-SLAM) have matured significantly in structured and urban scenarios…
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Development and Experimental Evaluation of the Athena Parallel Robot for Minimally Invasive Pancreatic Surgery
This paper presents the development and experimental evaluation of the Athena parallel robot, a novel system designed for robot-assisted pancreatic surgery. The development of the experimental model based on the kinematic scheme, including the command and control system (hardware and software), the…
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Optimizing Multi-Robot Task Allocation with Dynamic Crisis Response: A Genetic Algorithm Approach with Task Resumption and Island Model Enhancement
This paper presents an optimization framework for Multi-Robot Task Allocation (MRTA) for a heterogeneous robot fleet operating in dynamic, failure-prone environments. In contrast to traditional MRTA approaches that handle only the initial allocation, our system extends functionality by integrating…
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Autonomous Forklifts for Warehouse Automation: A Comprehensive Review
Despite decades of research, autonomous forklifts remain deployed at a small scale (2–50 vehicles), while industrial warehouses require coordinating hundreds of vehicles in environments shared with human workers. This systematic review analyzes forklift-specific autonomous technologies published…
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Unified Promptable Panoptic Mapping with Dynamic Labeling Using Foundation Models
Panoptic maps enable robots to reason about both geometry and semantics. However, open-vocabulary models repeatedly produce closely related labels that split panoptic entities and degrade volumetric consistency. The proposed UPPM advances open-world scene understanding by leveraging foundation…
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A Simulative Study on Model-Based Emergency Strategies for Damage Prevention After Cable Breaks in Cable-Driven Parallel Robots
This study investigates model-based emergency strategies for damage prevention following cable breaks in six-degree-of-freedom cable-driven parallel robots. By relaxing real-time constraints, the empirical performance limit of existing and novel recovery approaches is assessed through comprehensive…
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