Recent interest in the control of underactuated robots has surged significantly due to the impressive athletic behaviors shown by robots developed by, e.g., Boston Dynamics ( https://www.bostondynamics.com ), Agility Robotics ( https://agilityrobotics.com/robots ), and the Massachusetts Institute of Technology [1] . This gives rise to the need for canonical robotic hardware … [Read more...] about Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics
Mathematical models
SoRoSim: A MATLAB Toolbox for Hybrid Rigid
Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This article introduces a user-friendly MATLAB toolbox, Soft Robot Simulator (SoRoSim), that integrates the geometric variable-strain (GVS) model of Cosserat rods to facilitate the static and … [Read more...] about SoRoSim: A MATLAB Toolbox for Hybrid Rigid
A Digital Twin of the Research Vessel Gunnerus for Lifecycle Services: Outlining Key Technologies
Digitalization has become a key aspect of making maritime industries more innovative, efficient, and fit for future operations. One of the most attractive aspects is the concept of digital twins , which refers to digital replicas of physical assets, processes, and systems that can be used as advanced tools for design, operation, and maintenance. This article introduces the … [Read more...] about A Digital Twin of the Research Vessel Gunnerus for Lifecycle Services: Outlining Key Technologies
Reinforcement-Learning-Based Local Search Approach to Integrated Order Batching: Driving Growth for Logistics and Retail
As an important part of Industry 4.0, a smart warehouse can offer smart tips and operational constraints for users. Improving its work efficiency is a promising growth driver for logistics companies and retailers. Therefore, a reinforcement-learning-based adaptive iterated local search (RAILS) approach is proposed to improve order-picking efficiency for a smart warehouse. A … [Read more...] about Reinforcement-Learning-Based Local Search Approach to Integrated Order Batching: Driving Growth for Logistics and Retail
Simulation to Real: Learning Energy-Efficient Slithering Gaits for a Snake-Like Robot
To resemble the body flexibility of biological snakes, snake-like robots are designed as a chain of body modules, which gives them many degrees of freedom (DoF) on the one hand and leads to a challenging task to control them on the other. Compared with conventional model-based control methods, reinforcement learning (RL)-based ones provide promising solutions to design agile … [Read more...] about Simulation to Real: Learning Energy-Efficient Slithering Gaits for a Snake-Like Robot
