International Journal of Intelligent Robotics and Applications

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Time-delayed dual-rate haptic rendering: stability analysis and reduced order modeling
International Journal of Intelligent Robotics and Applications - Tập 5 - Trang 510-533 - 2021
Suhail Ganiny, Majid H. Koul, Babar Ahmad
This work presents an exhaustive analysis of the impact of time delay on the stability of dual-rate haptics controllers using an exact discrete-time method. The mathematical formulation of such controllers leads to higher order state-space models, in particular, for higher values of time delay and sampling rates. A balanced truncation based model order reduction framework is therefore utilized for... hiện toàn bộ
Mismatched image identification using histogram of loop closure error for feature-based optical mapping
International Journal of Intelligent Robotics and Applications - Tập 3 - Trang 196-206 - 2019
Armagan Elibol, Nak-Young Chong, Hyunjung Shim, Jinwhan Kim, Nuno Gracias, Rafael Garcia
Image registration is one of the most fundamental steps in optical mapping from mobile platforms. Lately, image registration is performed by detecting salient points in two images and matching their descriptors. Robust methods [such as Random Sample Consensus (RANSAC)] are employed to eliminate outliers and compute the geometric transformation between the coordinate frames of images, typically a h... hiện toàn bộ
2D-3D hybrid mapping for path planning in autonomous robots
International Journal of Intelligent Robotics and Applications - Tập 7 - Trang 291-303 - 2023
Rajesh Kannan Megalingam, Santosh Tantravahi, Hemanth Sai Surya Kumar Tammana, Hari Sudarshan Rahul Puram
Computational complexity is one of the critical attributes of robot design. Mapping, a vitally important feature of auto-navigation of robots is one such area where computational complexity is of concern. An appropriate spatial representation of the surroundings is required for efficient path planning. Creation of a 2D map alone for a given environment is not sufficient even though it has the leas... hiện toàn bộ
Iterative learning of human partner’s desired trajectory for proactive human–robot collaboration
International Journal of Intelligent Robotics and Applications - Tập 4 - Trang 229-242 - 2020
Jingkang Xia, Deqing Huang, Yanan Li, Na Qin
A period-varying iterative learning control scheme is proposed for a robotic manipulator to learn a target trajectory that is planned by a human partner but unknown to the robot, which is a typical scenario in many applications. The proposed method updates the robot’s reference trajectory in an iterative manner to minimize the interaction force applied by the human. Although a repetitive human–rob... hiện toàn bộ
Focused section on robotics and autonomy for sustainability
International Journal of Intelligent Robotics and Applications - Tập 7 - Trang 459-461 - 2023
Fumin Zhang, Xianbo Xiang, Yangquan Chen, Shaohui Foong, Francesco Maurelli
Influence of human operator on stability of haptic rendering: a closed-form equation
International Journal of Intelligent Robotics and Applications - Tập 4 - Trang 403-415 - 2020
Ahmad Mashayekhi, Saeed Behbahani, Fanny Ficuciello, Bruno Siciliano
In this paper an analytical stability criterion for linear haptic devices is determined, in the presence of the operator. The model of the haptic device and the virtual environment are assumed as mass-damper and spring-damper, respectively. Two different models for operator’s hand are assumed, and the stability boundaries are derived analytically. The main contribution of this paper is the analyti... hiện toàn bộ
Robot grasping in dense clutter via view-based experience transfer
International Journal of Intelligent Robotics and Applications - Tập 6 - Trang 23-37 - 2021
Jen-Wei Wang, Chia-Lien Li, Jian-Lun Chen, Jyh-Jone Lee
To perform object grasping in dense clutter, we propose a novel algorithm for grasp detection. To obtain grasp candidates, we developed instance segmentation and view-based experience transfer as part of the algorithm. Subsequently, we established an algorithm for collision avoidance and stability analysis to determine the optimal grasp for robot grasping. The strategy for the view-based experienc... hiện toàn bộ
DKH: a hybridized approach for image inpainting using Bayes probabilistic-based image fusion
International Journal of Intelligent Robotics and Applications - Tập 7 - Trang 149-163 - 2022
Manjunath R. Hudagi, Shridevi Soma, Rajkumar L. Biradar
Image inpainting is the process of removing the unwanted objects from the image or it refers to the restoration of the original image. Despite the fact that there are various ways for image inpainting, these traditional approaches have some limitations in terms of data loss, which the proposed methodology should be able to address. This paper introduces a hybrid image inpainting method, termed DKH... hiện toàn bộ
Multi-frequency ultrasound transducers for medical applications: a survey
International Journal of Intelligent Robotics and Applications - Tập 2 - Trang 296-312 - 2018
Xue Li Sun, Ji Peng Yan, Yue Feng Li, Honghai Liu
Nowadays, ultrasound imaging (US) has made extensive applications in the field of the medical imaging due to its particular advantages, in which the transducer plays an important role. The traditional single-frequency transducers can not meet the requirements of various medical applications, such as harmonic imaging (HI), second-order ultrasound field imaging (SURF) and acoustic radiation force im... hiện toàn bộ
A non-periodic planning and control framework of dynamic legged locomotion
International Journal of Intelligent Robotics and Applications - Tập 4 - Trang 95-108 - 2020
Ye Zhao, Yan Gu
This study proposes an integrated planning and control framework for achieving three-dimensional robust and dynamic legged locomotion over uneven terrain. The proposed framework is composed of three hierarchical layers. The high-level layer is a state-space motion planner designing highly dynamic locomotion behaviors based on a reduced-order robot model. This motion planner incorporates two robust... hiện toàn bộ
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