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IAES International Journal of Robotics and Automation (IJRA)
Robots are becoming part of people's everyday social lives and will increasingly become so. In future years, robots may become caretaker assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our co-workers in factories and offices, or maids in our homes. The IAES International Journal of Robotics and Automation (IJRA) is providing a platform to researchers, scientists, engineers and practitioners throughout the world to publish the latest achievement, future challenges and exciting applications of intelligent and autonomous robots. IJRA is aiming to push the frontier of robotics into a new dimension, in which motion and intelligence play equally important roles. Its scope includes (but not limited) to the following: automation control, automation engineering, autonomous robots, biotechnology and robotics, emergence of the thinking machine, forward kinematics, household robots and automation, inverse kinematics, Jacobian and singularities, methods for teaching robots, nanotechnology and robotics (nanobots), orientation matrices, robot controller, robot structure and workspace, robotic and automation software development, robotic exploration, robotic surgery, robotic surgical procedures, robotic welding, robotics applications, robotics programming, robotics technologies, robots society and ethics, software and hardware designing for robots, spatial transformations, trajectory generation, unmanned (robotic) vehicles, etc.
Articles
89
Articles
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A PSO-Optimized Reciprocal Velocity Obstacles Algorithm for Navigation of Multiple Mobile Robots

Allawi, Ziyad, Abdalla, Turki

IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

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Abstract

In this paper, a new optimization method for the Reciprocal Velocity Obstacles (RVO) is proposed. It uses the well-known Particle Swarm Optimization (PSO) for navigation control of multiple mobile robots with kinematic constraints. The RVO is used for collision avoidance between the robots, while PSO is used to choose the best path for the robot maneuver to avoid colliding with other robots and to get to its goal faster. This method was applied on 24 mobile robots facing each other. Simulation results have shown that this method outperforms the ordinary RVO when the path is heuristically chosen.

Online Biped Walking Pattern Generation with Contact Consistency

Hou, Wenqi ( National University of Defense Technology ) , Wang, Jian ( National University of Defense Technology ) , Wang, Jianwen ( National University of Defense Technology ) , Ma, Hongxu ( National University of Defense Technology )

IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

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Abstract

In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, itâ??s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hipâ??s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

The Control Design of Ship Formation with the Presence of a Leader

Miswanto, M. ( Airlangga University ) , Pranoto, I. ( Institut Teknologi Bandung ) , Mhammad, H. Muhammad ( Institut Teknologi Bandung ) , Mahayana, D. ( Institut Teknologi Bandung )

IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

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Abstract

Formation control is an important behavior for multi-agents system (swarm). This paper addresses the optimal tracking control problem for swarm whose agents are ships moving together in a specific geometry formation. We study formation control of the swarm model which consists of three agents and one agent has a role as a leader. The agents of swarm are moving to follow the leader path. First, we design the control of the leader with Pontryagin Maximum Principle. The control of the leader is designed for tracking the desired path. We show that the tracking error of the path of the leader tracing a desired path is sufficiently small. After that, geometry approach is used to design the control of the other. We show that the positioning and the orientation of each agent can be controlled dependent on the leader. The simulation results show to illustrate of this method at the last section of this paper.

A Brief Survey Paper on Multi-Legged Robots

Behmanesh, Mohammad ( UCSI University ) , Amiri Tehranizadeh, Ehsan ( UCSI University ) , Iwan Solihin, Mahmud ( UCSI University )

IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

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Abstract

This paper presents a brief survey on multi-legged robots and their applications in agriculture such as for harvesting. Multi-legged robots have the benefit of more flexibility and adapt to different rough terrain in a better way. They also have very important applications in fulfilling the dangerous tasks such as mine detecting.

Leader-Follower Tracking System for Agricultural Vehicles: Fusion of Laser and Odometry Positioning Using Extended Kalman Filter

Huan, Zhang Lin ( University of Tsukuba ) , Tomohiro, Takigawa ( University of Tsukuba ) , Tofael, Ahamed ( University of Tsukuba )

IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

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Abstract

The aim of this research was to develop a safe human-driven and autonomous leader-follower tracking system for an autonomous tractor. To enable the tracking system, a laser range finder (LRF)-based landmark detection system was designed to observe the relative position between a leader and a follower used in agricultural operations. The virtual follower-based formation-tracking algorithm was developed to minimize tracking errors and ensure safety. An extended Kalman filter (EKF) was implemented for fusing LRF and odometry position to ensure stability of tracking in noisy farmland conditions. Simulations were conducted for tracking the leader in small and large sinusoidal curved paths. Simulated results verified high accuracy of formation tracking, stable velocity, and regulated steering angle of the follower. The tracking method confirmed the follower could follow the leader with a required formation safely and steadily in noisy conditions. The EKF helped to improve observation accuracy, velocity, and steering angle stability of the follower. As a result of the improved accuracy of observation and motion action, the tracking performance for lateral, longitudinal, and heading were also improved after the EKF was implemented in the tracking system.

Mobile Robot Localization: A Review of Probabilistic Map-Based Techniques

Malagon-Soldara, Salvador Manuel ( Universidad Autonoma de Queretaro ) , Toledano-Ayala, Manuel ( Universidad Autonoma de Queretaro ) , Soto-Zarazua, Genaro ( Universidad Autonoma de Queretaro ) , Carrillo-Serrano, Roberto Valentin ( Universidad Autonoma de Queretaro ) , Rivas-Araiza, Edgar Alejandro ( Universidad Autonoma de Queretaro )

IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

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Abstract

This work presents a comprehensive review of current probabilistic developments used to calculate position by mobile robots in indoor environments. In this calculation, best known as localization, it is necessary to develop most of the tasks delegated to the mobile robot. It is then crucial that the methods used for position calculations be as precise as possible, and accurately represent the location of the robot within a given environment. The research community has devoted a considerable amount of time to provide solutions for the localization problem. Several methodologies have been proposed the most common of which are based in the Bayes rule. Other methodologies include the Kalman filter and the Monte Carlo localization filter wich will be addressed in next sections. The major contribution of this review rests in offering a wide array of techniques that researchers can choose. Therefore, method-sensor combinations and their main advantages are displayed.

Dedicated Filter for Robust Occupancy Grid Mapping

Nagla, KS ( Dr. BR Ambedkar National Institute of Technology Jalandhar ) , Uddin, Moin ( Jamia Hamdard University New Delhi ) , Singh, Dilbag ( Dr. BR Ambedkar National Institute of Technology Jalandhar )

IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

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Abstract

Sensor based perception of the environment is an emerging area of the mobile robot research where sensors play a pivotal role. For autonomous mobile robots, the fundamental requirement is the convergent of the range information in to high level internal representation. Internal representation in the form of occupancy grid is commonly used in autonomous mobile robots due to its various advantages. There are several sensors such as vision sensor, laser rage finder, and ultrasonic and infrared sensors etc. play roles in mapping. However the sensor information failure, sensor inaccuracies, noise, and slow response are the major causes of an error in the mapping. To improve the reliability of the mobile robot mapping multisensory data fusion is considered as an optimal solution. This paper presents a novel architecture of sensor fusion frame work in which a dedicated filter (DF) is proposed to increase the robustness of the occupancy grid for indoor environment. The technique has been experimentally verified for different indoor test environments. The proposed configuration shows improvement in the occupancy grid with the implementation of dedicated filters.

Making Humanoid Robots More Acceptable Based on the Study of Robot Characters in Animation

Maleki, Fatemeh ( Shahid Beheshti University ) , Farhoudi, Zeinab ( Science and Research Branch of Azad University )

IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

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Abstract

In this paper we take an approach in Humanoid Robots are not considered as robots who resembles human beings in a realistic way of appearance and act but as robots who act and react like human that make them more believable by people. Regarding this approach we will study robot characters in animation movies and discuss what makes some of them to be accepted just like a moving body and what makes some other robot characters to be believable as a living human. The goal of this paper is to create a rule set that describes friendly, socially acceptable, kind, cute... robots and in this study we will review example robots in popular animated movies. The extracted rules and features can be used for making real robots more acceptable.

Modification and Actuator Minimization of the Hip Leg Joint in a Bipedal Robot: A Proposed Design

Tripathi, Nirmalya

IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015
Publisher : Institute of Advanced Engineering and Science

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Abstract

In recent times, there have been numeric applications of Biped Robots. In this paper, a proposed upper leg hip design of a biped was developed taking cost reduction and optimization as factors for consideration. The proposed system introduces a novel method which consists of a vibration reduction (VR) DC stepper motor, microcontroller, microprocessor and gearing arrangement. The program in the microprocessor is so designed that it gives a fixed number of cycles/steps to the VR DC stepper motor in clockwise and thereafter in anti-clockwise direction. This turning movement can then be transmitted to the gearing system which precisely moves one upper leg when the VR DC stepper motor moves in clockwise direction, while the other upper leg remains static, and vice-versa. It has been observed that this new proposed system may reduce the cost overhead, weight and the energy consumption incurred by working on a single VR DC stepper motor while conventionally two stepper motors are used to give the motion of the two upper legs in a biped.

Inverse Kinematic Solution of 5R Manipulator using ANN and ANFIS

Jha, Panchand ( National Institute of Technology, Rourkela )

IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015
Publisher : Institute of Advanced Engineering and Science

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Abstract

Inverse kinematics of manipulator comprises the computation required to find the joint angles for a given Cartesian position and orientation of the end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network and adaptive neural fuzzy inference system techniques can be gainfully used to yield the desired results. This paper proposes structured artificial neural network (ANN) model and adaptive neural fuzzy inference system (ANFIS) to find the inverse kinematics solution of robot manipulator. The ANN model used is a multi-layered perceptron Neural Network (MLPNN). Wherein, gradient descent type of learning rules is applied. An attempt has been made to find the best ANN configuration for the problem. It is found that ANFIS gives better result and minimum error as compared to ANN.