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To ensure the motion attitude and stable contact force of massage robot working on unknown human tissue environment, this study aims to propose a robotic system for autonomous massage path planning and stable interaction control.

First, back region extraction and acupoint recognition based on deep learning is proposed, which provides a basis for determining the working area and path points of the robot. Second, to realize the standard approach and movement trajectory of the expert massage, 3D reconstruction and path planning of the massage area are performed, and normal vectors are calculated to control the normal orientation of robot-end. Finally, to cope with the soft and hard changes of human tissue state and body movement, an adaptive force tracking control strategy is presented to compensate the uncertainty of environmental position and tissue hardness online.

Improved network model can accomplish the acupoint recognition task with a large accuracy and integrate the point cloud to generate massage trajectories adapted to the shape of the human body. Experimental results show that the adaptive force tracking control can obtain a relatively smooth force, and the error is basically within ± 0.2 N during the online experiment.

This paper incorporates deep learning, 3D reconstruction and impedance control, the robot can understand the shape features of the massage area and adapt its planning massage path to carry out a stable and safe force tracking control during dynamic robot–human contact.

The purpose of this paper is to illustrate the growing role of robots in the logistics industry.

Following an introduction, which identifies key challenges facing the industry, this paper discusses robotic applications in warehouses, followed by sections covering transportation and delivery and conclusions.

The logistics industry faces a number of challenges that drive technological and operational changes. Robots are already playing a role within the warehouse sector and more complex applications have recently arisen from developments in artificial intelligence-enabled vision technology. In the transportation sector, autonomous trucks are being developed and trialled by leading manufacturers. Many major logistics companies are involved and limited services are underway. Last-mile delivery applications are growing rapidly, and trials, pilot schemes and commercial services are underway in Europe, the USA and the Far East. The Chinese market is particularly buoyant, and in 2019, a delivery robot was launched that operates on public roads, based on Level-4 autonomous driving technology. The drone delivery sector has been slower to develop, in part due to regulatory constraints, but services are now being operated by drone manufacturers, retailers and logistics providers.

This paper provides details of existing and future applications of robots in the logistics industry.

In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new constraint method to improve the performance of the sampling-based planner.

In this work, a constraint method (TC method) based on the idea of cross-sampling is proposed. This method uses the tangent space in the workspace to approximate the constrained manifold pattern and projects the entire sampling process into the workspace for constraint correction. This method avoids the need for extensive computational work involving multiple iterations of the Jacobi inverse matrix in the configuration space and retains the sampling properties of the sampling-based algorithm.

Simulation results demonstrate that the performance of the planner when using the TC method under the end-effector constraint surpasses that of other methods. Physical experiments further confirm that the TC-Planner does not cause excessive constraint errors that might lead to task failure. Moreover, field tests conducted on robots underscore the effectiveness of the TC-Planner, and its excellent performance, thereby advancing the autonomy of robots in power-line connection tasks.

This paper proposes a new constraint method combined with the rapid-exploring random trees algorithm to generate collision-free trajectories that satisfy the constraints for a high-dimensional robotic system under end-effector constraints. In a series of simulation and experimental tests, the planner using the TC method under end-effector constraints efficiently performs. Tests on a power distribution live-line operation robot also show that the TC method can greatly aid the robot in completing operation tasks with end-effector constraints. This helps robots to perform tasks with complex end-effector constraints such as grinding and welding more efficiently and autonomously.

This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance operations.

A ground-up redesign of the dual-arm robotic system with 12-DoF is applied for substantial weight reduction; a dual-mode operating control framework is proposed, with vision-guided autonomous operation embedded with real-time manual teleoperation controlling both manipulators simultaneously; a quick-swap tooling system is developed to conduct multi-functional operation tasks. A prototype robotic system is constructed and validated in a series of operational experiments in an emulated environment both indoors and outdoors.

The overall weight of the system is successfully brought down to under 150 kg, making it suitable for the majority of vehicle-mounted aerial work platforms, and it can be flexibly and quickly deployed in population dense areas with narrow streets. The system equips with two dexterous robotic manipulators and up to six interchangeable tools, and a vision system for AI-based autonomous operations. A quick-change tooling system ensures the robot to change tools on-the-go without human intervention.

The resulting dual-arm robotic live-line operation system robotic system could be compact and lightweight enough to be deployed on a wide range of available aerial working platforms with high mobility and efficiency. The robot could both conduct routine operation tasks fully autonomously without human direct operation and be manually operated when required. The quick-swap tooling system enables lightweight and durable interchangeability of multiple end-effector tools, enabling future expansion of operating capabilities across different tasks and operating scenarios.

This paper aims to solve the problem of the inability to apply learning methods for robot motion skills based on dynamic movement primitives (DMPs) in tasks with explicit environmental constraints, while ensuring the reliability of the robot system.

The authors propose a novel DMP that takes into account environmental constraints to enhance the generality of the robot motion skill learning method. First, based on the real-time state of the robot and environmental constraints, the task space is divided into different regions and different control strategies are used in each region. Second, to ensure the effectiveness of the generalized skills (trajectories), the control barrier function is extended to DMP to enforce constraint conditions. Finally, a skill modeling and learning algorithm flow is proposed that takes into account environmental constraints within DMPs.

By designing numerical simulation and prototype demonstration experiments to study skill learning and generalization under constrained environments. The experimental results demonstrate that the proposed method is capable of generating motion skills that satisfy environmental constraints. It ensures that robots remain in a safe position throughout the execution of generation skills, thereby avoiding any adverse impact on the surrounding environment.

This paper explores further applications of generalized motion skill learning methods on robots, enhancing the efficiency of robot operations in constrained environments, particularly in non-point-constrained environments. The improved methods are applicable to different types of robots.

This paper aims to develop an adaptable control architecture for electrohydraulic humanoid robots (HYDROïD) that emulate the functionality of the human nervous system. The developed control architecture overcomes the limitations of classical centralized and decentralized systems by distributing intelligence across controllers.

The proposed solution is a distributed real-time control architecture with robot operating system (ROS). The joint controllers have the intelligence to make decisions, dominate their actuators and publish their state. The real-time capabilities are ensured in the master controller by using a Preempt-RT kernel beside open robot control software middleware to operate the real-time tasks and in the customized joint controllers by free real-time operating systems firmware. Systems can be either centralized, where all components are connected to a central unit or decentralized, where distributed units act as interfaces between the I/Os and the master controller when the master controller is without the ability to make decisions.

The proposed architecture establishes a versatile and adaptive control framework. It features a centralized hardware topology with a master PC and distributed joint controllers, while the software architecture adapts based on the task. It operates in a distributed manner for precise, force-independent motions and in a decentralized manner for tasks requiring compliance and force control. This design enables the examination of the sensorimotor loop at both low-level joint controllers and the high-level master controller.

It developed a control architecture emulating the functionality of the human nervous system. The experimental validations were performed on the HYDROïD. The results demonstrated 50% advancements in the update rate compared to other humanoids and 30% in the latency of the master processor and the control tasks.

Rapid technological change in the transport sector is leading to a growing range of potential and actual ‘business models’ deployable for the movement of goods and people. Two key uncertainties arise from this proliferation: first, concerning which ones can be economically viable, and, second, whether they can be both simultaneously economically viable and contribute to the imperatives of more sustainable mobility. The present chapter reviews and appraises the emergence of these new business models, drawing on both literature review and empirical research with entrepreneurs involved in the new mobility sector. Specifically, the potential of the UN Sustainable Development Goals (SDGs) (UN, n.d.) as a device to structure and frame the debate about what constitutes a valuable contribution to sustainable mobility is considered. A framework is developed which captures how mobility and transport have dependencies with the SDGs. From this analysis, key sustainability concepts are derived which have either a subsistence function (maintaining the basics of human life) or an enhancement function (enabling citizens to realise their potential whilst reducing impacts on the planet). Five different innovations involving mobility sector business entrepreneurship are then characterised using this framework to exemplify its ability to deconstruct and test claims that ‘smart mobility’ is also good for sustainability as well as good for business. It is concluded that the framework could contribute to a wider architecture of sustainability interrogation. It could promote discourse around a wide range of actors, posing questions and surfacing tensions and contingencies effectively, whilst providing a holistic, strategic assessment to inform more targeted, scientific evaluations of sustainability metrics.

In this chapter, we discuss the merits and challenges of organic communication within an inclusive, iterative research design through our research project ‘Improving the quality of life of families with parents with intellectual disabilities (IDs) and their children (<12 years) by means of assistive robotics’. We will discuss the research process, its key steps and preliminary findings, as well as how inclusivity of participants was taken along throughout this process. The links between research design, designers and project participants are explored and reflected on. Our positions as researchers within the research process are also reflected upon. We will additionally address the implications of our research for the broader field of inclusive design for assistive robotics and the creative methodologies employed and tailored to the needs of families headed by parents with an ID and their children. In this, we keep a close eye on the difficulties such families face within the context of our research project. Lastly, we reflect on several key markers of collaboration within marginalised communities we encountered in our research.

Artificial intelligence (AI) is experiencing growth and prosperity worldwide because of its convenience and other benefits. However, AI faces challenges related to consumer resistance. Thus, drawing on the user resistance theory, this study explores factors that influence consumers’ resistance to AI and suggests ways to mitigate this negative influence.

This study tested four hypotheses across four studies by conducting lab experiments. Study 1 used a questionnaire to verify the hypothesis that AI’s “substitute” image leads to consumer resistance to AI; Study 2 focused on the role of perceived threat as an underlying driver of resistance to AI. Studies 3–4 provided process evidence by the way of a measured moderator, testing whether AI with servant communication style and literal language style is resisted less.

This study showed that AI’s “substitute” image increased users' resistance to AI. This occurs because the substitute image increases consumers’ perceived threat. The study also found that using servant communication and literal language styles in the interaction between AI and consumers can mitigate the negative effects of AI-substituted images.

This study reveals the mechanism of action between AI image and consumers’ resistance and sheds light on how to choose appropriate image and expression styles for AI products, which is important for lowering consumer resistance to AI.