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All Journal ComEngApp : Computer Engineering and Applications Journal Journal of Information Technology and Computer Engineering Aviation Electronics, Information Technology, Telecommunications, Electricals, and Controls (AVITEC) International Journal of Industrial Research and Applied Engineering Journal of Innovation Information Technology and Application (JINITA) JAREE (Journal on Advanced Research in Electrical Engineering) Andalas Journal of Electrical and Electronic Engineering Technology International Journal of Applied Sciences and Smart Technologies
Benjamin Kommey
Kwame Nkrumah University of Science and Technology
Aerospace Engineering Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Mechanical Engineering

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Kinematics and Mathematical Modelling of Wheeled Mobile Robots: a compact review Benjamin Kommey; Owusu-Banahene Banabas Nana Kwame; Nana Owusu Effah; Nathaniel Ato-Sam; Kwame Agyeman-Prempeh
International Journal of Applied Sciences and Smart Technologies Vol. 8 No. 02 (2026): December 2026 — Forthcoming
Publisher : Faculty of Science and Technology, Universitas Sanata Dharma

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24071/j32ssr43

Abstract

This paper presents a comprehensive review on the kinematics and mathematical modelling of wheeled mobile robots. Wheeled mobile robots are a class of robots whose locomotion is facilitated by a set of wheels. The paper delves into the aspects that have proved to be the center of research as far as wheeled mobile robots are concerned, that is, stability, control and path planning. By examining the works in these areas, this paper evaluates the proposed solutions and discusses the findings in various works.
A Systematic Review of Surgical Robots and Controls for Teleoperations Benjamin Kommey; Kojo Nyamekye Assan; Phyllis Teteki Wayoe; Christabel Naadu Ayiku; Agbemor Dzifa Aku; Herbert Quagraine
Aviation Electronics, Information Technology, Telecommunications, Electricals, and Controls (AVITEC) Vol 7, No 3 (2025): November (Special Issue)
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v7i3.2941

Abstract

The advancements in healthcare technology have transformed the landscape of medical practice, with robotics emerging as a prominent feature. The use of teleoperation, particularly in remote robot-assisted surgeries, has obtained significant attention and acclaim for its potential to enhance surgical outcomes and expand access to specialized care. Despite the increase in research in this domain, there remains a need for a thorough and systematic review to consolidate the diverse findings and conclusions. This work presents an organized synthesis of existing related works using Preferred Reporting Items for Systematic reviews and Meta-Analyses (PRISMA), facilitating easier access to vital information for researchers, practitioners, and innovators. To achieve this, the historical development of surgical robots were explored. Furthermore, different types of surgical robots with various architecture were extensively examined to highlight the relevance of their application. Imperatively, advancements in teleoperability and control systems of surgical robots were comprehensively discussed underscoring its growing influence in current healthcare delivery. Moreover, practical challenges faced by teleoperated surgical robots were highlighted and elaborated to point out their limitations. Additionally, future directions aimed to tackle the identified shortfalls in robotic surgery and teleoperation were considered. In this regard, this work provided an impactful contribution that positively influences growth in the area of robotic surgery and teleoperation by consolidating several insights into a cohesive framework which ultimately seek to improve patient care.
A Comprehensive Review of the Dynamics and Control of Bipedal Robots: Problems, Challenges and Future Directions Benjamin Kommey; Elvis Tamakloe; Safianu Umar; Evans Korletey
Aviation Electronics, Information Technology, Telecommunications, Electricals, and Controls (AVITEC) Vol 8, No 2 (2026): August
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v8i2.4137

Abstract

Bipedal robots have gained a lot of attention in robotics because of their versatility in numerous application areas such as in rescue missions, military tasks, therapy, personal assistance and care for the aged. Their ability to move in tough and mixed-up spaces provides essential advantages over wheeled robots. However, they present challenges, such as complicated movement, balancing and control issues, and energy management problems. This paper utilized PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) to examine peer-reviewed publications in bipedal robots, covering both their modeling dynamics and strategic control, application areas and the challenges in development and management. After reviewing 165 of 15,214 publications that satisfied the inclusion criteria, the assessments were developed around the history of bipedal robots, marking important developments like dynamic control, passive-dynamic walking, and using sensors in real-time. Developments in artificial intelligence, machine learning, and reinforcement learning have made bipedal robots more stable, adaptable, and efficient. The novelty of this review lies in integrating rigid-body and reduced-order dynamic models, classical and learning-based control strategies, hardware limitations, and future research priorities within a unified comparative framework for bipedal robotics.
Co-Authors Agbemor Dzifa Aku Andrew Selasi Agbemenu Bright Yeboah Akowuah Christabel Naadu Ayiku Daniel Opoku Eliel Keelson Elijah Ocupualor Elvis Tamakloe Elvis Tamakloe Elvis Tamakloe Eric Tutu Tchao Evans Korletey Francis Boafo Effah Gideon Adom Bamfi Herbert Quagraine Jerry John Kponyo John Emmanuel Ayarma Joseph Oti Boateng Kojo Nyamekye Assan Kwame Agyeman-Prempeh Nana Owusu Effah Nathaniel Ato-Sam Owusu-Banahene Banabas Nana Kwame Phyllis Teteki Wayoe Safianu Umar Seth Djanie Kotey Seth Djanie Kotey