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Article
Publication date: 4 January 2013

Luis Emmi, Leonel Paredes‐Madrid, Angela Ribeiro, Gonzalo Pajares and Pablo Gonzalez‐de‐Santos

The purpose of this paper is to propose going one step further in the simulation tools related to agriculture by integrating fleets of mobile robots for the execution of precision…

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Abstract

Purpose

The purpose of this paper is to propose going one step further in the simulation tools related to agriculture by integrating fleets of mobile robots for the execution of precision agriculture techniques. The proposed new simulation environment allows the user to define different mobiles robots and agricultural implements.

Design/methodology/approach

With this computational tool, the crop field, the fleet of robots and the different sensors and actuators that are incorporated into each robot can be configured by means of two interfaces: a configuration interface and a graphical interface, which interact with each other.

Findings

The system presented in this article unifies two very different areas – robotics and agriculture – to study and evaluate the implementation of precision agriculture techniques in a 3D virtual world. The simulation environment allows the users to represent realistic characteristics from a defined location and to model different variabilities that may affect the task performance accuracy of the fleet of robots.

Originality/value

This simulation environment, the first in incorporating fleets of heterogeneous mobile robots, provides realistic 3D simulations and videos, which grant a good representation and a better understanding of the robot labor in agricultural activities for researchers and engineers from different areas, who could be involved in the design and application of precision agriculture techniques. The environment is available at the internet, which is an added value for its expansion in the agriculture/robotics family.

Details

Industrial Robot: An International Journal, vol. 40 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 9 September 2021

Abhishek Kumar Kashyap and Dayal R. Parhi

This paper aims to outline and implement a novel hybrid controller in humanoid robots to map an optimal path. The hybrid controller is designed using the Owl search algorithm…

Abstract

Purpose

This paper aims to outline and implement a novel hybrid controller in humanoid robots to map an optimal path. The hybrid controller is designed using the Owl search algorithm (OSA) and Fuzzy logic.

Design/methodology/approach

The optimum steering angle (OS) is used to deal with the obstacle located in the workspace, which is the output of the hybrid OSA Fuzzy controller. It is obtained by feeding OSA's output, i.e. intermediate steering angle (IS), in fuzzy logic. It is obtained by supplying the distance of obstacles from all directions and target distance from the robot's present location.

Findings

The present research is based on the navigation of humanoid NAO in complicated workspaces. Therefore, various simulations are performed in a 3D simulator in different complicated workspaces. The validation of their outcomes is done using the various experiments in similar workspaces using the proposed controller. The comparison between their outcomes demonstrates an acceptable correlation. Ultimately, evaluating the proposed controller with another existing navigation approach indicates a significant improvement in performance.

Originality/value

A new framework is developed to guide humanoid NAO in complicated workspaces, which is hardly seen in the available literature. Inspection in simulation and experimental workspaces verifies the robustness of the designed navigational controller. Considering minimum error ranges and near collaboration, the findings from both frameworks are evaluated against each other in respect of specified navigational variables. Finally, concerning other present approaches, the designed controller is also examined, and major modifications in efficiency have been reported.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 2 March 2012

Hamed Shahbazi, Kamal Jamshidi and Amir Hasan Monadjemi

The purpose of this paper is to model a motor region named the mesencephalic locomotors region (MLR) which is located in the end part of the brain and first part of the spinal…

Abstract

Purpose

The purpose of this paper is to model a motor region named the mesencephalic locomotors region (MLR) which is located in the end part of the brain and first part of the spinal cord. This model will be used for a Nao soccer player humanoid robot. It consists of three main parts: High Level Decision Unit (HLDU), MLR‐Learner and the CPG layer. The authors focus on a special type of decision making named curvilinear walking.

Design/methodology/approach

The authors' model is based on stimulation of some programmable central pattern generators (PCPGs) to generate curvilinear bipedal walking patterns. PCPGs are made from adaptive Hopfs oscillators. High level decision, i.e. curvilinear bipedal walking, will be formulated as a policy gradient learning problem over some free parameters of the robot CPG controller.

Findings

The paper provides a basic model for generating different types of motions in humanoid robots using only simple stimulation of a CPG layer. A suitable and fast curvilinear walk has been achieved on a Nao humanoid robot, which is similar to human ordinary walking. This model can be extended and used in other types of humanoid.

Research limitations/implications

The authors' work is limited to a special type of biped locomotion. Different types of other motions are encouraged to be tested and evaluated by this model.

Practical implications

The paper introduces a bio‐inspired model of skill learning for humanoid robots. It is used for curvilinear bipedal walking pattern, which is a beneficial movement in soccer‐playing Nao robots in Robocup competitions.

Originality/value

The paper uses a new biological motor concept in artificial humanoid robots, which is the mesencephalic locomotor region.

Details

Industrial Robot: An International Journal, vol. 39 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 4 March 2021

Abhishek Kumar Kashyap and Dayal R. Parhi

Humanoid robots have complicated dynamics, and they lack dynamic stability. Despite having similarities in kinematic structure, developing a humanoid robot with robust walking is…

Abstract

Purpose

Humanoid robots have complicated dynamics, and they lack dynamic stability. Despite having similarities in kinematic structure, developing a humanoid robot with robust walking is quite difficult. In this paper, an attempt to produce a robust and expected walking gait is made by using an ALO (ant lion optimization) tuned linear inverted pendulum model plus flywheel (LIPM plus flywheel).

Design/methodology/approach

The LIPM plus flywheel provides the stabilized dynamic walking, which is further optimized by ALO during interaction with obstacles. It gives an ultimate turning angle, which makes the robot come closer to the obstacle and provide a turning angle that optimizes the travel length. This enhancement releases the constraint on the height of the COM (center of mass) and provides a larger stride. The framework of a sequential locomotion planer has been discussed to get the expected gait. The proposed method has been successfully tested on a simulated model and validated on the real NAO humanoid robot.

Findings

The convergence curve defends the selection of the proposed controller, and the deviation under 5% between simulation and experimental results in regards to travel length and travel time proves its robustness and efficacy. The trajectory of various joints obtained using the proposed controller is compared with the joint trajectory obtained using the default controller. The comparison shows the stable walking behavior generated by the proposed controller.

Originality/value

Humanoid robots are preferred over mobile robots because they can easily imitate the behaviors of humans and can result in higher output with higher efficiency for repetitive tasks. A controller has been developed using tuning the parameters of LIPM plus flywheel by the ALO approach and implementing it in a humanoid robot. Simulations and experiments have been performed, and joint angles for various joints are calculated and compared with the default controller. The tuned controller can be implemented in various other humanoid robots

Details

International Journal of Intelligent Unmanned Systems, vol. 10 no. 4
Type: Research Article
ISSN: 2049-6427

Keywords

Article
Publication date: 29 September 2023

Yue Qiao, Wang Wei, Yunxiang Li, Shengzui Xu, Lang Wei, Xu Hao and Re Xia

The purpose of this paper is to introduce a motion control method for WFF-AmphiRobot, which can effectively realize the flexible motion of the robot on land, underwater and in the…

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Abstract

Purpose

The purpose of this paper is to introduce a motion control method for WFF-AmphiRobot, which can effectively realize the flexible motion of the robot on land, underwater and in the transition zone between land and water.

Design/methodology/approach

Based on the dynamics model, the authors selected the appropriate state variables to construct the state space model of the robot and estimated the feedback state of the robot through the maximum a posteriori probability estimation. The nonlinear predictive model controller of the robot is constructed by local linearization of the model to perform closed-loop control on the overall motion of the robot. For the control problem of the terminal trajectory, using the neural rhythmic movement theory in bionics to construct a robot central pattern generator (CPG) for real-time generation of terminal trajectory.

Findings

In this paper, the motion state of WFF-AmphiRobot is estimated, and a model-based overall motion controller for the robot and an end-effector controller based on neural rhythm control are constructed. The effectiveness of the controller and motion control algorithm is verified by simulation and physical prototype motion experiments on land and underwater, and the robot can ideally complete the desired behavior.

Originality/value

The paper designed a controller for WFF-AmphiRobot. First, when constructing the robot state estimator in this paper, the robot dynamics model is introduced as the a priori estimation model, and the error compensation of the a priori model is performed by the method of maximum a posteriori probability estimation, which improves the accuracy of the state estimator. Second, for the underwater oscillation motion characteristics of the flipper, the Hopf oscillator is used as the basis, and the flipper fluctuation equation is modified and improved by the CPG signal is adapted to the flipper oscillation demand. The controller effectively controls the position error and heading angle error within the desired range during the movement of the WFF-AmphiRobot.

Details

Industrial Robot: the international journal of robotics research and application, vol. 50 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 14 June 2013

Yang Gao, Shu‐dong Sun, Da‐wei Hu and Lai‐jun Wang

Path planning in unknown or partly unknown environment is a quite complex task, partly because it is an evolving globally optimal path affected by the motion of the robot and the…

Abstract

Purpose

Path planning in unknown or partly unknown environment is a quite complex task, partly because it is an evolving globally optimal path affected by the motion of the robot and the changing of environmental information. The purpose of this paper is to propose an online path planning approach for a mobile robot, which aims to provide a better adaptability to the motion of the robot and the changing of environmental information.

Design/methodology/approach

This approach treats the globally optimal path as a changing state and estimates it online with two steps: prediction step, which predicts the globally optimal path based on the motion of the robot; and updating step, which uses the up‐to‐date environmental information to refine the prediction.

Findings

Simulations and experiments show that this approach needs less time to reach the destination than some classical algorithms, provides speedy convergence and can adapt to unexpected obstacles or very limited prior environmental information. The better performances of this approach have been proved in both field and indoor environments.

Originality/value

Compared with previous works, the paper's approach has three main contributions. First, it can reduce the time consumed in reaching the destination by adopting an online path planning strategy. Second, it can be applied in such environments as those with unexpected obstacles or with only limited prior environmental information. Third, both motion error of the robot and the changing of environmental information are considered, so that the global adaptability to them is improved.

Details

Industrial Robot: An International Journal, vol. 40 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 12 October 2012

Nino Pereira, Fernando Ribeiro, Gil Lopes, Daniel Whitney and Jorge Lino

The purpose of this paper is to present the methodology and the results on the design and development of an autonomous, golf ball picking robot, for driving ranges.

Abstract

Purpose

The purpose of this paper is to present the methodology and the results on the design and development of an autonomous, golf ball picking robot, for driving ranges.

Design/methodology/approach

The strategy followed to develop a commercial product is presented, based on prior identification requirements, which consist of picking up golf balls on a driving range in a safe and efficient way.

Findings

A fully working prototype robot has been developed. It uses two driving wheels and a third cast wheel, and pushes a standard gang which collects the balls from the ground. A hybrid information system was implemented in order to provide a statistically relevant prediction of golf balls location, to optimize the path the robot has to follow in order to reduce time and cost. Autonomous navigation was developed and tested on a simulation environment.

Research limitations/implications

Preliminary results showed that the new path planning algorithm Twin‐RRT* is able to form closed loop trajectories and improve the result over time. Kinematic constraints were already taken into account on the algorithm. This sampling based algorithm has potential usage in solving other TPP (Travelling Purchaser Problem) related problems.

Practical implications

The prototype feasibility is being tested in real driving ranges. It has autonomy of up to 8 h per day. It is capable of collecting up to 1,200 balls in one single journey. It weighs 130 kg and is capable of climbing slopes of up to 22°. The maximum speed is 8 km/h and the robot takes 140 min to completely sweep a 25,000 m2 field at 7.2 km/h (2 m/s) average speed.

Social implications

There are about 30,000 golf practice fields, of which 18,000 are located in the USA and Canada. In some countries the golf industry represents more than 15 per cent of tourism GNP. In a typical practice field, about 10,000 balls have to be picked up every day.

Originality/value

An important contribution of this paper is the algorithm for path planning in order to optimize the ball pick up task, reducing time and cost. There are two patents are pending concerning the technological novelties of this work.

Article
Publication date: 7 August 2017

Guoteng Zhang, Zhenyu Jiang, Yueyang Li, Hui Chai, Teng Chen and Yibin Li

Legged robots are inevitably to interact with the environment while they are moving. This paper aims to properly handle these interactions. It works to actively control the joint…

Abstract

Purpose

Legged robots are inevitably to interact with the environment while they are moving. This paper aims to properly handle these interactions. It works to actively control the joint torques of a hydraulic-actuated leg prototype and achieve compliant motion of the leg.

Design/methodology/approach

This work focuses on the modelling and controlling of a hydraulic-actuated robot leg prototype. First, the design and kinematics of the leg prototype is introduced. Then the linearlized model for the hydraulic actuator is built, and a model-based leg joint torque controller is presented. Furthermore, the virtual model controller is implemented on the prototype leg to achieve active compliance of the leg. Effectiveness of the controllers are validated through the experiments on the physical platform as well as the results from simulations.

Findings

The hydraulic joint torque controller presented in this paper shows good torque tracking performance. And the actively compliant leg successfully emulates the performance of virtual passive components under dynamic situations.

Originality/value

The main contribution of this paper is that it proposed a model-based active compliance controller for the hydraulic-actuated robot leg. It will be helpful for those robots that aim to achieve versatile and safe motions.

Details

Assembly Automation, vol. 37 no. 3
Type: Research Article
ISSN: 0144-5154

Keywords

Book part
Publication date: 8 August 2022

Flor S. Gerardou, Royston Meriton, Anthony Brown, Blanca Viridiana Guizar Moran and Rajinder Bhandal

Challenge-based learning (CBL) has gained acceptance as a contemporary and progressive teaching pedagogy that provides a holistic and inclusive experience to learners in higher…

Abstract

Challenge-based learning (CBL) has gained acceptance as a contemporary and progressive teaching pedagogy that provides a holistic and inclusive experience to learners in higher education (HE) institutions. However, its lack of appeal to non-STEM subjects and the need for further development, particularly concerning improved approaches, have been recognized. It seems that CBL runs the risk of becoming a portmanteau pedagogy that blends aspects of problem-based learning, project-based learning, and situated learning, as opposed to its development as an effective pedagogy tool. This points to a lack of a formal implementation framework, code of practice, and standard procedures for its delivery. We argue that blending a design thinking (DT) pedagogy with CBL can potentially provide the stability that CBL currently lacks. At the same time, it also presents a more inclusive proposition to potential non-STEM audiences. Thus, in this chapter, we seek to interrogate the intersectionality between CBL and DT literature in the context of HE teaching and learning with a view of establishing CBL as a pedagogy in its own right. We attempt to achieve this by systematically analyzing the separate literature to reveal the synergies and common touchpoints.

Details

The Emerald Handbook of Challenge Based Learning
Type: Book
ISBN: 978-1-80117-491-6

Keywords

Article
Publication date: 27 April 2012

Ting Wang, Dominik M. Ramik, Christophe Sabourin and Kurosh Madani

Different machines are already present in the human environment, easing human beings' daily life. In the future, this tendency will be accentuated by integration of numerous…

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Abstract

Purpose

Different machines are already present in the human environment, easing human beings' daily life. In the future, this tendency will be accentuated by integration of numerous robots (e.g. wheeled robots, legged robots, humanoid robots, network sensors, etc.) in the human environment. A wide range of applications, such as those dealing with warehouse management, industrial assembling, military applications, daily‐life tasks, can benefit from multi‐robot systems. The purpose of this paper is to propose an intelligent system for industrial robotics in the logistic field, based on collaboration between heterogeneous robots.

Design/methodology/approach

The proposed infrastructure for this multi‐robot system is composed of a robots' network including one humanoid robot, wheeled robots, cameras, and remote computer. All devices can communicate between them by using wireless network. The goal of the humanoid robot is to lead the wheeled robots according to the environment and wheeled robots are used to carry a load. The camera allows providing complementary information about the environment; and thanks to machine learning, this control strategy allows complex tasks to be perormed for these logistic applications.

Findings

This concept is implemented on real robots within the frame of a demonstrator including the above‐mentioned kind of robots. The preliminary results, obtained during experimentations, prove the feasibility of the presented strategy for real applications.

Originality/value

The main originalities of this work are, on the one hand, the use of an heterogeneous multi‐robots system for logistic tasks, and on the other hand, the proposed machine learning allows a collaboration task between heterogeneous robots in an autonomous manner.

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