Purpose – The purpose of this paper is to present a dual-mode online optimization method (OOM) for trajectory tracking of the redundant manipulators. This method could be used to resolve the problem of the kinematics redundancy effectively when the manipulator moves in a limited space or its...

Purpose – Humanoid robots should have the ability of walking in complex environment and overcoming large obstacles in rescue mission. Previous research mainly discusses the problem of humanoid robots stepping over or on/off one obstacle statically or dynamically. As an extreme case, this paper...

Purpose Walking on inclined ground is an important ability for humanoid robots. In general, conventional strategies for walking on slopes lack technical analysis in, first, the waist posture with respect to actual robot and, second, the landing impact, which weakens the walking stability. The...

Purpose The purpose of this paper was to present a soft landing control strategy for a biped robot to avoid and absorb the impulsive reaction forces (which weakens walking stability) caused by the landing impact between the swing foot and the ground. Design/methodology/approach First, a suitable...

Purpose – As Chinese massage is increasingly popular, many physicians are needed these days. In order to promote the experience and skills of experts and reduce labour intensity during massage, a massage robot, which could reproduce the expert techniques with individualized manipulation...

Purpose The purpose of this research is to achieve a novel magnetic nutation drive for an industry robotic wrist reducer. Design/methodology/approach A novel magnetic nutation drive is proposed, and the structure and principle of the designed magnetic nutation drive are described in this study....

Purpose The purpose of this paper is to present a scan matching simultaneous localization and mapping (SLAM) algorithm based on particle filter to generate the grid map online. It mainly focuses on reducing the memory consumption and alleviating the loop closure problem....