Advancements in Humanoid Robots: A Comprehensive Review and Future Prospects

IEEE/CAA Journal of Automatica Sinica, Journal Year: 2024, Volume and Issue: 11(2), P. 301 - 328

Published: Jan. 29, 2024

This paper provides a comprehensive review of the current status, advancements, and future prospects humanoid robots, highlighting their significance in driving evolution next-generation industries. By analyzing various research endeavors key technologies, encompassing ontology structure, control decision-making, perception interaction, holistic overview state robot is presented. Furthermore, emerging challenges field are identified, emphasizing necessity for deeper understanding biological motion mechanisms, improved structural design, enhanced material applications, advanced drive methods, efficient energy utilization. The integration bionics, brain-inspired intelligence, mechanics, underscored as promising direction development robotic systems. serves an invaluable resource, offering insightful guidance to researchers field, while contributing ongoing potential robots across diverse domains.

Language: Английский

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Brain-inspired multimodal hybrid neural network for robot place recognition

Science Robotics, Journal Year: 2023, Volume and Issue: 8(78)

Published: May 10, 2023

Place recognition is an essential spatial intelligence capability for robots to understand and navigate the world. However, recognizing places in natural environments remains a challenging task because of resource limitations changing environments. In contrast, humans animals can robustly efficiently recognize hundreds thousands different conditions. Here, we report brain-inspired general place system, dubbed NeuroGPR, that enables by mimicking neural mechanism multimodal sensing, encoding, computing through continuum space time. Our system consists hybrid network (MHNN) encodes integrates cues from both conventional neuromorphic sensors. Specifically, encode sensory cues, built various networks view cells, head direction time cells. To integrate these designed multiscale liquid state machine process fuse information effectively asynchronously using diverse neuronal dynamics bioinspired inhibitory circuits. We deployed MHNN on Tianjic, chip, integrated it into quadruped robot. results show NeuroGPR achieves better performance compared with existing biologically inspired approaches, exhibiting robustness environmental uncertainty, including perceptual aliasing, motion blur, light, or weather changes. Running as overall multi–neural workload Tianjic showcases its advantages 10.5 times lower latency 43.6% power consumption than commonly used mobile robot processor Jetson Xavier NX.

Language: Английский

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Design and performance analysis of different cambered wings for flapping-wing aerial vehicles based on wind tunnel test

Robotic Intelligence and Automation, Journal Year: 2024, Volume and Issue: 44(5), P. 698 - 712

Published: July 11, 2024

Purpose Bionic flapping-wing aerial vehicles (FWAVs) mimic natural flyers to generate the lift and thrust, such as birds, bats insects. As an important component of FWAVs, flapping wings are crucial for flight performance. The aim this paper is study effects different on aerodynamic Design/methodology/approach Inspired by structure authors design four cambered analyze effect airfoils FWAVs motor-driven mechanism wings, realize control frequency. Combined with wind tunnel equipment, build force test platform static dynamic performance under state variables frequency, speed inclined angle. Findings results show that wing a camber 20 mm best. Compared flat wing, average can be improved 59.5%. Originality/value Different from traditional given in paper. influence analyzed optimal obtained.

Language: Английский

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Large language models for robotics: Opportunities, challenges, and perspectives

Journal of Automation and Intelligence, Journal Year: 2024, Volume and Issue: unknown

Published: Dec. 1, 2024

Language: Английский

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Comprehensive Nonlinear Control Strategy for VTOL-UAVs With Windowed Output Constraints

IEEE Transactions on Control Systems Technology, Journal Year: 2023, Volume and Issue: 31(6), P. 2673 - 2684

Published: July 31, 2023

In this article, we develop a methodology for trajectory tracking control of vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) in the presence unknown mass time-varying external disturbances. A time-dependent shift function is introduced, which, alongside set barrier vector functions, enables finite period constrained outputs, namely, position velocity errors. The proposed controller also features two stable adaption laws to estimate following: 1) UAV 2) parameter relating bound total closed-loop system error shown be uniformly ultimately bounded (UUB). This strategy, which requires only first derivative reference an implicit saturation thrust force, especially apt handle three stages flight: takeoff, tracking, landing. Simulation results are presented validate solution. Experimental included showcase performance our real-world application using quadrotor vehicle.

Language: Английский

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A review on energy efficiency in autonomous mobile robots

Robotic Intelligence and Automation, Journal Year: 2023, Volume and Issue: 43(6), P. 648 - 668

Published: Sept. 14, 2023

Purpose This paper aims to provide a comprehensive analysis of the state art in energy efficiency for autonomous mobile robots (AMRs), focusing on sources, consumption models, energy-efficient locomotion, hardware consumption, optimization path planning and scheduling methods, suggest future research directions. Design/methodology/approach The systematic literature review (SLR) identified 244 papers analysis. Research articles published from 2010 onwards were searched databases including Google Scholar, ScienceDirect Scopus using keywords search criteria related power management various robotic systems. Findings highlights following key findings: batteries are primary source AMRs, with advances battery systems enhancing efficiency; hybrid models offer superior accuracy robustness; locomotion contributes over 50% robot’s total emphasizing need optimized control methods; factors such as center mass impact AMR consumption; algorithms methods essential optimization, algorithm choice depending specific requirements constraints. limitations/implications concentrates wheeled robots, excluding walking ones. Future work should improve explore examine artificial intelligence/machine learning roles assess trade-offs. Originality/value provides highlighting findings SLR suggests directions further advancements this field.

Language: Английский

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Design and Quantitative Assessment of Teleoperation-Based Human–Robot Collaboration Method for Robot-Assisted Sonography

IEEE Transactions on Automation Science and Engineering, Journal Year: 2024, Volume and Issue: unknown, P. 1 - 11

Published: Jan. 1, 2024

Tele-echography has emerged as a promising and effective solution, leveraging the expertise of sonographers autonomy robots to perform ultrasound scanning for patients residing in remote areas, without need in-person visits by sonographer. Designing natural human-robot interfaces tele-echography remains challenging, with patient safety being critical concern. In this article, we develop teleoperation system robot-assisted sonography two different interfaces, haptic device-based interface low-cost 3D Mouse-based interface, which can achieve continuous intuitive telemanipulation leader device small workspace. To compliant interaction patients, design impedance controllers Cartesian space track desired position orientation these interfaces. We also propose comprehensive evaluation metrics sonography, including subjective objective evaluation, evaluate control performance. ergonomic performance based on estimated muscle fatigue acquired image quality. conduct user studies NASA Task Load Index The tracking quantitative comparison are conducted Franka Emika Panda robot. results findings provide guidance collaboration implementation sonography. Note Practitioners —Robot-assisted demonstrated efficacy medical diagnosis during clinical trials. However, deploying fully autonomous challenging due various constraints practice, such safety, dynamic tasks, environmental uncertainties. Semi-autonomous or teleoperation-based robot represents approach practical deployment. Previous work produced expensive but lacks guide selection. present typical implement system. metric assessing their Our show that outperforms Mouse, operators' feedback requires more learning time effort training stage. Furthermore, developed offers solution shared skill transfer. valuable designing implementing practice.

Language: Английский

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USTButterfly: A Servo-Driven Biomimetic Robotic Butterfly

IEEE Transactions on Industrial Electronics, Journal Year: 2023, Volume and Issue: 71(2), P. 1758 - 1767

Published: March 27, 2023

Different from birds, bats, flies, and other flying creatures that generate propulsions by flapping a pair of wings, butterflies with two pairs wings have their peculiar flight aerodynamics. In this article, servo-driven biomimetic robotic butterfly, named USTButterfly, is designed to study the mechanism biological butterflies. First, instead using single actuator drive servos are introduced independently left right thereby realizing tailless control butterfly. Next, bionic airfoil inspired wing structure glasswing Wing geometry analysis indicates USTButterfly well matches morphological characteristics Finally, multicamera motion capture system used measure results demonstrate despite larger Reynolds number, shares similar coupled wing–body interaction in climbing flight. opens up new way specializations butterflies, offers potential alternative paradigm for existing unmanned aerial vehicles.

Language: Английский

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A Review of Advances in Bio-Inspired Visual Models Using Event-and Frame-Based Sensors

Advances in Technology Innovation, Journal Year: 2025, Volume and Issue: 10(1), P. 44 - 57

Published: Jan. 23, 2025

This paper reviews visual system models using event- and frame-based vision sensors. The event-based sensors mimic the retina by recording data only in response to changes field, thereby optimizing real-time processing reducing redundancy. In contrast, capture duplicate data, requiring more resources. research develops a hybrid model that combines both sensor types enhance efficiency reduce latency. Through simulations experiments, this approach addresses limitations integration speed, offering improvements over existing methods. State-of-the-art systems are highlighted, particularly fusion processing, where dynamic (DVS) technology demonstrates significant potential. study also discusses current limitations, such as latency challenges, explores potential solutions integrate biological computer approaches improve scene perception. These findings have important implications for systems, especially robotics autonomous applications demand processing.

Language: Английский

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Thermal-Sensitive Artificial Ionic Skin with Environmental Stability and Self-Healing Property

ACS Applied Materials & Interfaces, Journal Year: 2025, Volume and Issue: 17(6), P. 9115 - 9124

Published: Jan. 30, 2025

Wearable temperature-sensitive electronic skin enables robots to rapidly detect environmental changes and respond intelligently, thereby reducing temperature-related mechanical failures. Additionally, this can measure record the temperature of external objects, broadening its potential applications in medical field. In study, we designed a thermally sensitive artificial ionic using liquids (ILs) as solvents carbon nanotubes (CNTs) conductive fillers. The incorporation ILs into polymer network enhances thermal stability, while CNTs establish dual conduction pathways (CNTs-CNTs CNTs-polymer chain segments), leading rapid response times only 16 s. initiation IL dissociation at elevated temperatures boosts carrier density, resulting substantial improvement sensitivity (5%/°C). Furthermore, displays remarkable self-healing properties (90%), extending lifespan practical applications. This kind stably sense wearer's body provide an ideal long-term stable new functional material for development human such robots.

Language: Английский

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