Purpose A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is...

Purpose This study aims to address the issue of random movement and non coordination between docking mechanisms and locking mechanisms, and proposes a comprehensive dynamic docking control architecture that integrates perception, planning, and motion control. Design/methodology/approach Firstly,...

Purpose To ensure the motion attitude and stable contact force of massage robot working on unknown human tissue environment, this study aims to propose a robotic system for autonomous massage path planning and stable interaction control. Design/methodology/approach First, back region extraction...

Purpose In response to the navigation challenges faced by coal mine tunnel inspection robots in semistructured underground intersection environments, many current studies rely on structured map-based planning algorithms and trajectory tracking techniques. However, this approach is highly...

Purpose This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance operations. Design/methodology/approach A ground-up redesign of the dual-arm robotic system with...

Purpose In response to the issue of traditional algorithms often falling into local minima or failing to find feasible solutions in manipulator path planning. The purpose of this paper is to propose a 3D artificial moment method (3D-AMM) for obstacle avoidance for the robotic arm's end-effector....

Purpose Weak repeatability is observed in handcrafted keypoints, leading to tracking failures in visual simultaneous localization and mapping (SLAM) systems under challenging scenarios such as illumination change, rapid rotation and large angle of view variation. In contrast, learning-based...

Purpose This study aims to propose an efficient dual-robot task collaboration strategy to address the issue of low work efficiency and inability to meet the production needs of a single robot during construction operations. Design/methodology/approach A hybrid task allocation method based on...

Purpose This study aims to improve the robot’s performance during interactions with human and uncertain environments. Design/methodology/approach A joint stiffness model was established according to the molecular current method and the virtual displacement method. The position and stiffness...

Purpose The human-following task is a fundamental function in human–robot collaboration. It requires a robot to recognize and locate a target person, plan a path and avoid obstacles. To enhance the applicability of the human-following task in various scenarios, it should not rely on a prior...