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Phenotypic Niching Using Quality Diversity Algorithms
Here we describe quality diversity algorithms, a recent and powerful class of evolutionary algorithms that produces a diverse set of high-performing...
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Virtual Force Senor Based on PSO-BP Neural Network for Legged Robots in Planetary Exploration
The foot force of the legged robot plays a decisive role in the balance of the fuselage. Especially when walking on the irregular road surface and...
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Spiking Memory Policy with Population-encoding for Partially Observable Markov Decision Process Problems
BackgroundSpiking neural network (SNN), as the next-generation neural network inspired by the human brain, has been proved to be promising for...
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A comprehensive study to learn the impact of augmented reality and haptic interaction in ultrasound-guided percutaneous liver biopsy training and education
Simulation based training methods are gaining popularity as they could provide a platform for practitioners to gain hands-on experience without...
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Haptic Feedback with a Reservoir Computing-Based Recurrent Neural Network for Multiple Terrain Classification of a Walking Robot
Terrain classification is an important feature for walking robots because it allows the robots to stably move and operate on the terrain. Different...
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Virtual-Sensor-Based Planetary Soil Classification with Legged Robots
The estimation of soil properties is crucial for legged robots during planetary exploration missions. A virtual-sensor-based soil classification...
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Validation Using Virtual Prototy** Tools and Experiments
In this chapter, a few case studies are carried out to validate the analytical results based on developed formulation in the book with the simulated...
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Benchmarking Incremental Regressors in Traversal Cost Assessment
Motivated by the deployment of multi-legged walking robots in traversing various terrain types, we benchmark existing online and unsupervised...
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A dung beetle-inspired robotic model and its distributed sensor-driven control for walking and ball rolling
A typical approach when designing a bio-inspired robot is to simplify an animal model and to enhance the functionality of interest. For hexapod...
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On Unsupervised Learning of Traversal Cost and Terrain Types Identification Using Self-organizing Maps
This paper reports on the deployment of self-organizing maps in unsupervised learning of the traversal cost for a hexapod walking robot. The problem...
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CPG Driven RBF Network Control with Reinforcement Learning for Gait Optimization of a Dung Beetle-Like Robot
In this paper, we employ a central pattern generator (CPG) driven radial basis function network (RBFN) based controller to learn optimized locomotion...
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Command and control of industrial manipulator through speech-based interfaces in Indic Languages
Human–robot interaction has been a challenging task, and it involves various criteria to be considered including robot operator’s caliber and his/her...
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Comparisons of Hybrid Mechanisms Based on Their Singularities for Bone Reduction Surgery: 3-PRP-3-RPS and 3-RPS-3-PRP
This paper presents comparisons of two hybrid mechanisms for bone reduction surgery based on the singularity analysis. These hybrid mechanisms are...
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Spike-timing-dependent plasticity model for low-frequency pulse waveform
The authors are studying pulse-type hardware neural networks (P-HNN) for generating the driving waveform of the robot. The P-HNN generates a driving...
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DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments
The Subterranean Challenge (SubT) is a contest organised by the Defense Advanced Research Projects Agency (DARPA). The contest reflects the...
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Terrain Classification with Crawling Robot Using Long Short-Term Memory Network
Terrain classification is a crucial feature for mobile robots operating across multiple terrains. One way to learn a terrain classifier is to use a...
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Avoid Overfitting in Deep Reinforcement Learning: Increasing Robustness Through Decentralized Control
Deep Reinforcement Learning is known to be brittle towards selection of appropriate hyperparameters. In particular, the selection of the structure of...
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Bio-inspired design and movement generation of dung beetle-like legs
African ball-rolling dung beetles can use their front legs for multiple purposes that include walking, manipulating or forming a dung ball, and also...
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Virtual models in 3D digital reconstruction: detection and analysis of symmetry
Cultural Heritage (CH) artifacts generally possess symmetry of reflection, rotation, translation and glide reflection in their shape. Similarity...
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Methods of Increasing Service Minibots Functional Capabilities
The main purpose of the article is to give an idea about the ways of increasing the functionality and energy efficiency of walking mobile robots by...