Xinyang Fan, Xin Shu, Baoxu Tu, Changyuan Liu, Fenglei Ni and Zainan Jiang
In the current teleoperation system of humanoid robots, the control between arms and the control between the waist and arms are individual and lack coordinated motion. This paper…
Abstract
Purpose
In the current teleoperation system of humanoid robots, the control between arms and the control between the waist and arms are individual and lack coordinated motion. This paper aims to solve the above problem and proposes a teleoperation control approach for a humanoid robot based on waist–arm coordination (WAC).
Design/methodology/approach
The teleoperation approach based on WAC comprises dual-arm coordination (DAC) and WAC. The DAC method realizes the coordinated motion of both arms through one hand by establishing a mapping relationship between a single hand controller and the manipulated object; the WAC method realizes the coordinated motion of both arms and waist by calculating the inverse kinematic input of robotic arms based on the desired velocity of the waist and the end of both arms. An integrated teleoperation control framework provides interfaces for the above methods, and users can switch control modes online to adapt to different tasks.
Findings
After conducting experiments on the dual-arm humanoid robot through the teleoperation control framework, it was found that the DAC method can save 27.2% of the operation time and reduce 99.9% of the posture change of the manipulated object compared with the commonly used individual control. The WAC method can accomplish a task that cannot be done by individual control. The experiments proved the improvement of both methods in terms of operation efficiency, operation stability and operation capability compared with individual control.
Originality/value
The DAC method better maintains the constraints of both arms and the manipulated object. The WAC method better maintains the constraints of the manipulated object itself. Meanwhile, the teleoperation framework integrates the proposed methods and enriches the teleoperation modes and control means.
Details
Keywords
Guojun Zhang, Fenglei Ni, Hong Liu, Zainan Jiang, Guocai Yang and Chongyang Li
The purpose of this paper is to transfer the impedance regulation of manual belt grinding to robot belt grinding control.
Abstract
Purpose
The purpose of this paper is to transfer the impedance regulation of manual belt grinding to robot belt grinding control.
Design/methodology/approach
This paper presents a novel methodology for transmitting human impedance regulation skills to robot control in robot belt grinding. First, according to the human grinding experimental data, the skilled worker’s arm impedance regulation is calculated. Next, the human skills are encapsulated as the statistical learning model where the kernel parameters are learned from the demonstration data by Gaussian process regression (GPR) algorithms. The desired profiles of robot are generated by the task planner based on the learned skill knowledge model. Lastly, the learned skill knowledge model is integrated with an adaptive hybrid position-force controller over the trajectory and force of end-effector in robot belt grinding task.
Findings
Manual grinding skills are represented and transferred to robot belt grinding for higher grinding quality of the workpiece.
Originality/value
The impedance of the manual grinding is estimated by k-means++ algorithm at different grinding phases. Manual grinding skills (e.g. trajectory, impedance regulation) are represented and modeled by GMM and GPR algorithms. The desired trajectory, force and impedance of robot are generated by the planner based on the learned skills knowledge model. An adaptive hybrid position-force controller is designed based on learned skill knowledge model. This paper proposes a torque-tracking controller to suppress the vibration in robot belt grinding process.
Details
Keywords
Mohd Khairy Kamarudin, Fatin Nur Ainaa Mustaffa, Norhaifa Ganti, Nur Izzati Mohamad Norzilan, Nurul Izzah Noor Zainan and Masyitah Khidzir
The current study examines the factors that affect trust and donation intention in donation-based crowdfunding.
Abstract
Purpose
The current study examines the factors that affect trust and donation intention in donation-based crowdfunding.
Design/methodology/approach
The present study utilized web-based questionnaires to examine the donation intention of Malaysian donors in donation-based crowdfunding, employing the information system success (ISS) framework. The collected data were investigated using partial least square structural equation modeling (PLS-SEM).
Findings
The findings of the study indicate that information quality, service quality and system quality have a significant positive effect on trust in donation-based crowdfunding. Additionally, donation intention in donation-based crowdfunding is significantly and positively influenced by information quality, service quality and trust.
Practical implications
The study’s results can be used by donation-based crowdfunding platforms to enhance their information, service and system quality to increase donor trust and intention to donate, including improving the platform’s design, navigation, aesthetics, comprehensibility of content, providing timely customer support and regularly updating and maintaining the system.
Originality/value
By exploring the relationship between information quality, service quality, system quality, trust and donation intention, this study contributes to the existing knowledge on donors’ behavior in crowdfunding.
Peer review
The peer review history for this article is available at: https://publons.com/publon/10.1108/IJSE-04-2023-0291
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Keywords
Nurisyal Muhamad and Norhaninah A. Gani
In December 2013, the World Bank had declared that, in the developing world, corruption is the No.1 public enemy. True, Malaysia has been swayed by the endless corruption scandals…
Abstract
Purpose
In December 2013, the World Bank had declared that, in the developing world, corruption is the No.1 public enemy. True, Malaysia has been swayed by the endless corruption scandals from the upper classes to the subordinates, in public as well as private sectors. As a country that is moving towards being a developed country in 2025, the Malaysian Government has been working hard to overcome corruption through various plans and initiatives. Thus, the purpose of this paper is to highlight on Malaysia’s current initiatives and factors that had been found to be of significant importance by previous studies for combating corruption in Malaysia.
Design/methodology/approach
This study employed structured review process as well as critically examined the contents to ensure that the data are filtered from high-quality peer-reviewed journals. Twenty-five quality papers were selected from top journals of various areas to produce the list.
Findings
This paper contributes to the existing literature by providing a comprehensive list of factors in Malaysia in the fight against corruption.
Originality/value
This study will be beneficial to academics, policymakers and anti-corruption professionals interested in Malaysia’s anti-corruption experiences.