The maintenance of critical industrial components is often hindered by limited access, tortuous passages, and complex geometries. In highly constrained environments, inspection tasks are currently performed with borescopes, but even skilled operators struggle with hard-to-reach targets, and the limited mobility prevents in situ repair when defects are identified. Thanks to an … [Read more...] about A Continuum Robot for Remote Applications
Service robots
Mastering the Complex Assembly Task With a Dual-Arm Robot: A Novel Reinforcement Learning Method
Deep reinforcement learning (DRL) has achieved great success across multiple fields; however, in the field of robot control, the acquisition of large amounts of motion data from real robots is challenging. In this work, an algorithm is proposed to train a neural network model with a large amount of data in a simulated environment and then transfer the model to the real … [Read more...] about Mastering the Complex Assembly Task With a Dual-Arm Robot: A Novel Reinforcement Learning Method
A Robust Visual Servoing Controller for Anthropomorphic Manipulators With Field-of-View Constraints and Swivel-Angle Motion
Human–robot collaboration has attracted significant attention in the industry due to the flexibility of humans and the accuracy of robots. Humanoid control of anthropomorphic robotic arms combined with visual servoing will enhance the intelligence of industrial robots. However, the robotic manipulator will introduce psychological discomfort to nearby humans, and the loss of … [Read more...] about A Robust Visual Servoing Controller for Anthropomorphic Manipulators With Field-of-View Constraints and Swivel-Angle Motion
Toward Holistic Scene Understanding
The long-term vision for robotics is to have fully autonomous mobile robots that perceive the environment as humans do or even better. This article transfers the core ideas from human scene perception onto robot scene perception to contribute toward a holistic scene understanding of robots. The first contribution is to extensively survey and compare state-of-the-art robot scene … [Read more...] about Toward Holistic Scene Understanding
Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object: Proposing a New Approach
Picking up objects and tossing them on a conveyor belt are activities generated on a daily basis in industry. These tasks are still done largely by humans. This article proposes a unified motion generator for a bimanual robotic system that enables two seven-degree-of-freedom robotic arms to grab and toss an object in one swipe. Unlike classical approaches that grab the object … [Read more...] about Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object: Proposing a New Approach
