In this paper, to analyze the transport of autonomous robots, an artificial Capital market is used. Capital market is considered as a pier which loading and unloading of cargo is done. Autonomous robots load and unload from the ship to the warehouse wharf or vice versa. All the robots have the ability of transporting the loads, but depending on loads and the location of unloading (or loading) a...

Robot design is a major component in robotics, as it allows building robots capable of performing properly given tasks. However, designing robot with multiple types parameters and constraints defining an optimization function analytically for the problem may be intractable or even impossible. Therefore black-box approaches are generally preferred. In this work we propose GlobDesOpt, simple-to-u...

A robot designed to mimic a human becomes kinematically redundant and its total degrees of freedom becomes larger than the number of physical variables required for describing a given task. Kinematic redundancy may contribute to enhancement of dexterity and versatility but it incurs a problem of ill-posedness of inverse kinematics from the task space to the joint space. This ill-posedness was o...

This article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact featuring real-time contact force estimator nonlinear motion controller handle collisions while performing aggressive maneuvers stabilize from high-speed wall collisions. Further, new collision-inclusive planning method that aims prioritize facilitate naviga...

This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis robot is presented. Second, objective function formulated forward equations. The does not require using any Jacobian matrix nor its estimation; for this reason, proposed suffer from singularities, which common problem with convent...

this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...

This work addresses the problem of global set-point control elastic joint robots by combining structure preserving (ESP) with non-collocated integral action. Despite popularity and extensive research on PID for rigid robots, such schemes largely evaded adoption to robots. is mainly due underactuation inherent these systems, which impedes direct implementation (link position) feedback. We remedy...