Purpose: Excellent obstacle surmounting performance is essential for the robotic vehicles in uneven terrain. However, existing robotic vehicles depend on complex mechanisms or control algorithms to surmount an obstacle. Therefore, this paper aims to propose a new simple configuration of an...

Purpose: Successful sensorless collision detection by a robot depends on the accuracy with which the external force/torque can be estimated. Compared with collaborative robots, industrial robots often have larger parameter values of their dynamic models and larger errors in parameter...

Purpose: To realize stable and precise localization in the dynamic environments, the authors propose a fast and robust visual odometry (VO) approach with a low-cost Inertial Measurement Unit (IMU) in this study. Design/methodology/approach: The proposed VO incorporates the direct method with...

Purpose: This paper aims to propose a novel active SLAM framework to realize avoid obstacles and finish the autonomous navigation in indoor environment. Design/methodology/approach: The improved fuzzy optimized Q-Learning (FOQL) algorithm is used to solve the avoidance obstacles problem of the...

Purpose: Lower extremity exoskeletons have drawn much attention recently due to their potential ability to help the stroke and spinal cord injury patients to regain the ability of walking. However, the balance of the human-exoskeleton system (HES) remains a big challenge. Usually, patients use...

Purpose: Trajectory tracking is a common problem in the field of mobile robots which has attracted a lot of attention in the past two decades. Therefore, besides the search for new controllers to achieve a better performance, improvement and optimization of existing control rules are necessary....

Purpose: The purpose of this paper is to propose a variable impedance control method of finger exoskeleton for hand rehabilitation using the contact forces between the finger and the exoskeleton, making the output trajectory of finger exoskeleton comply with the natural flexion-extension (NFE)...

Purpose: Since robot’s structural stiffness is usually less than 1 N/µm, mode coupling chatter occurs frequently during robotic milling process, and chatter frequency is close to the natural frequency of the robot itself. Chatter not only affects the surface quality but also damages the...

Purpose: This paper aims to design and control of a novel compact transportation system called the “wearable vehicle”. The wearable vehicle allows for traversing all types of terrains while transporting one's luggage in a comfortable and efficient manner. Design/methodology/approach: The...