Literature Review

Tanaka et al Presented a motion of humanoid robots has important applications in sports robotics
and human-robot interaction, among other areas. Robots called "humanoid" that are made to
move like humans have gained popularity recently. In robotics, it might be difficult to
accomplish dynamic actions like hopping and hitting a moving object. Scholars have examined
diverse approaches to augment the dexterity and accuracy of humanoid robot motions,
concentrating especially on pneumatic mechanisms. This study's primary methodology centers
on IMoLo, a motion generation method that makes use of a Lookup table of learnt dynamics.
The researchers used structure-integrated pneumatic cable cylinders to create "Liberobot," a
humanoid robot with eight joints. With this configuration, jump-and-hit maneuvers similar to
those of human volleyball players might be performed. The IMoLo technique experimentation
with "Liberobot" produced encouraging outcomes. When performing jump-and-hit motions in
simulated situations, the robot showed a considerable reduction in prediction errors in hand
placements, especially in circumstances with a limited number of training sessions. The robot hit
the flying ball 16 times out of 20 when it successfully performed the jump-and-hit motion in
real-world trials. Our findings demonstrate how well IMoLo works to provide precise and
flexible dynamic whole-body motion capabilities to a pneumatic humanoid robot.[1]
Cho et al Presented a method of machine learning using Robotics research has seen a rise in the
popularity of quadrupedal robots, which are inspired by the way animals walk naturally. Real-
world uses like autonomous exploration and search and rescue operations depend on the ability
to move at fast speeds while using minimal energy. The creation of innovative solutions is
essential since traditional actuators frequently fail to strike a balance between speed and energy
economy. The main new development in this work is the addition of semi-active pneumatic
actuators to Cheetaroid's legs. Because these actuators have switchable stiffness, the robot can
dynamically modify its leg attributes according to the phase of movement, which is a unique
benefit. The actuator maintains the dynamics of the actuation module by releasing the load on it
during the stance phase. On the other hand, minimal power input reduces stiffness during the
swing phase, allowing the actuation module to control the leg with less resistance. The study's
results are encouraging, showing a noteworthy decrease in CoT of over 50% when compared to
simulation situations without semi-active pneumatic actuators. This significant increase in
energy economy could allow the robot to operate for longer periods of time without sacrificing
its high-speed performance. This research has significant ramifications that will pave the way for
the creation of energy-efficient quadrupedal robots for a variety of robotics and automation
applications.[2]
Wu et al Presented a method of machine learning using Vascular anatomy is complex and brittle,
making it difficult to maneuver catheters through it. Using too much force when manipulating a
catheter might have negative effects like perforations, scarring, or damage to the vascular wall.
In order to improve safety and precision in cardiovascular therapies, novel approaches are
required as conventional control systems frequently fail to properly limit these risks. brand-new
compliant motion control algorithm created especially for robotic catheter applications. This
methodology, in contrast to conventional methods, depends only on the position sensing of the
catheter tip and the understanding of the catheter behavior. A data-driven tip position controller
that was trained using a control Long Short-Term Memory Network (control-LSTM) is the core
component of this technique. Even in the face of strong rate-dependent hysteresis, the catheter
can navigate intricate trajectories with sub-degree precision thanks to its novel controller.
Trajectory following experiments are used to thoroughly test the effectiveness of the proposed
control-LSTM. The outcomes reveal excellent placement abilities, exhibiting sub-degree
accuracy even in difficult situations. Notably, investigations carried out in aortic phantoms and
reduced setups demonstrate a significant 70% reduction in contact forces with the surroundings.
The method has the potential to reduce the risk of vascular wall damage and associated problems
during catheter-based treatments, as demonstrated by the notable reduction in forces.[3]
Kim et al Presented a soft robotics—which was previously limited to theoretical concepts—has
grown significantly. Soft robotic solutions are being investigated since traditional rigid robots
have difficulties in unpredictable and dynamic environments. In order to overcome these issues
and provide soft robotic systems with intelligent and adaptive behaviors, the incorporation of
machine learning techniques has become crucial. Even with the tremendous advancements, there
are still difficulties in integrating machine learning with soft robotics. Ongoing research concerns
are raised by problems including the scarcity of data, the requirement for real-time learning, and
the interpretability of intricate algorithms. The paper highlights the significance of
interdisciplinary cooperation across the robotics, materials science, and machine learning groups
by outlining these difficulties and offering suggestions for future research directions.[4]

[1] K. Tanaka, S. Nishikawa, R. Niiyama, and Y. Kuniyoshi, "Immediate generation of

jump-and-hit motions by a pneumatic humanoid robot using a lookup table of learned
dynamics," IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5557-5564, 2021.
[2] J. Cho, B. Na, and K. Kong, "Efficiency improvement of a robotic leg using a pneumatic-
electric hybrid actuation system," in 2017 14th International Conference on Ubiquitous
Robots and Ambient Intelligence (URAI), 2017: IEEE, pp. 7-13.
[3] D. Wu et al., "Deep-learning-based compliant motion control of a pneumatically-driven
robotic catheter," IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 8853-8860,
2022.
[4] D. Kim et al., "Review of machine learning methods in soft robotics," Plos one, vol. 16,
no. 2, p. e0246102, 2021.