IAES International Journal of Robotics and Automation (IJRA)
Robots are becoming part of people's everyday social lives and will increasingly become so. In future years, robots may become caretaker assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our co-workers in factories and offices, or maids in our homes. The IAES International Journal of Robotics and Automation (IJRA) is providing a platform to researchers, scientists, engineers and practitioners throughout the world to publish the latest achievement, future challenges and exciting applications of intelligent and autonomous robots. IJRA is aiming to push the frontier of robotics into a new dimension, in which motion and intelligence play equally important roles. Its scope includes (but not limited) to the following: automation control, automation engineering, autonomous robots, biotechnology and robotics, emergence of the thinking machine, forward kinematics, household robots and automation, inverse kinematics, Jacobian and singularities, methods for teaching robots, nanotechnology and robotics (nanobots), orientation matrices, robot controller, robot structure and workspace, robotic and automation software development, robotic exploration, robotic surgery, robotic surgical procedures, robotic welding, robotics applications, robotics programming, robotics technologies, robots society and ethics, software and hardware designing for robots, spatial transformations, trajectory generation, unmanned (robotic) vehicles, etc.
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<![CDATA[Constrained model predictive control for enhanced trajectory tracking in multi-DOF robotic manipulators ]]>
<![CDATA[Shyamalagowri Murugesan]]>;
<![CDATA[Gomathi Periyavattam Shanmugam]]>;
<![CDATA[Mohammadha Hussaini Mohammed Ibrahim]]>;
<![CDATA[Ramesh Ponnusamy]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v15i2.pp331-340
<![CDATA[Controlling a multi-degree-of-freedom (multi-DOF) robotic manipulator is complicated by nonlinear dynamics, coupled joints, and constraints such as joint limits, actuator saturation, and collision avoidance. The focus of this proposed work is the development and implementation of constrained model predictive control (MPC) algorithms for robotic manipulators. The key features of this proposal include the use of the dynamics of the manipulator in the process of prediction and the ability for the controller to take optimal actions over a fixed time horizon, while ensuring that the full range of physical and safety constraints is satisfied. The proposed MPC framework incorporates a discrete-time state-space model of the robotic manipulator that can be optimized using quadratic programming (QP), which allows for the model to be expressed in a general stable form to enable optimization. Linear and nonlinear MPC approaches will be considered, but the emphasis will be on the feasibility of real-time implementation and robustness of the controller to modelling errors and disturbances from the environment. The algorithm can be used in simulation and on a physical multi-DOF robotic arm in applications ranging from trajectory tracking to obstacle avoidance and precision positioning of the end-effector. Compared to traditional control techniques like PID, and computed torque control proves the superiority of MPC in controlling dynamic constraints and increasing control accuracy. The research also discusses implementation techniques involving reduced-order models and efficient solvers to address real-time computational needs, enabling safe and effective deployment in sophisticated robotic devices.]]>
<![CDATA[A path generation and control framework for 6-DOF robot in precision writing and drawing ]]>
<![CDATA[Khoi Hoang Dinh]]>;
<![CDATA[Khanh Tran Duy]]>;
<![CDATA[Thien Bui Thanh]]>;
<![CDATA[Quy Vo Quoc]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v15i2.pp281-294
<![CDATA[Robots are becoming increasingly integrated into everyday life, not only in industrial applications but also in creative, educational, and entertainment contexts. With recent advancements, collaborative robots are now lighter, safer, and easier to deploy alongside humans, making them well-suited for tasks that require precision and adaptability. This paper presents an integrated control framework for the ABB GoFa 6-DOF collaborative robot, enabling it to autonomously perform precise writing and drawing tasks. The system leverages CAD-based path design in SolidWorks and ABB RobotStudio’s AutoPath tool to generate motion trajectories from a library of modeled characters, symbols, and figures. A socket-based communication interface connects the robot controller with a user-friendly human-machine interface (HMI), allowing users to input custom text or select predefined figures in real time. The framework has been implemented and validated on the physical ABB GoFa robot, demonstrating high accuracy, repeatability, and usability for applications such as public exhibitions and educational settings.]]>
<![CDATA[Robust efficient ego-vehicle path prediction based on Bezier curves for autonomous driving ]]>
<![CDATA[Hanan H. Hussein]]>;
<![CDATA[Ahmed Atef]]>;
<![CDATA[Mohamed Hanafy Radwan]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v15i2.pp427-444
<![CDATA[Accurate ego-vehicle path prediction is essential for safety-critical functions in advanced driver assistance systems (ADAS), such as automatic emergency braking (AEB) and collision avoidance. Existing models based on Clothoid curves are typically not sufficient in expressing complex maneuvers and are not highly adaptive to various vehicle dynamics. In addition, these models struggle with accuracy in circular maneuvers and fail to use in complex paths (e.g., S-shapes). This paper proposes a novel representation of the ego-vehicle path prediction using Bezier curves. The proposed Bezier curves are composed of two Cartesian third-order polynomial functions. They are formulated efficiently to model both circular and S-shaped trajectories with high accuracy and low computational cost. Our method significantly reduces prediction error, achieving over 95% improvement in average Euclidean distance error compared to Clothoidal models along about 50 m paths in controlled circular scenarios. The proposed algorithm, designed with O(n) complexity, is suitable for real-time applications on low-power automotive hardware. Its effectiveness is demonstrated through simulation using CarMaker, and a collision estimation module for AEB is developed based on the predicted paths.]]>
<![CDATA[Vector-logic models of digital circuits for simulation and rendering ]]>
<![CDATA[Vladimir Hahanov]]>;
<![CDATA[Svetlana Chumachenko]]>;
<![CDATA[Eugenia Litvinova]]>;
<![CDATA[Andrii Voronov]]>;
<![CDATA[Oleh Demchenko]]>;
<![CDATA[Nataliya Maksymova]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v15i2.pp319-330
<![CDATA[Vector-logical in-memory computing for solving modelling for simulation (MOSI) problems by using read-write transactions free of processor instructions is proposed. A parser mechanism has been developed for converting the HDL code of the logical circuit into the internal vector-logical data structures of the MOSI service, addresses of logical vectors of elements. Deductive vectors are generated from the vector-logic model of the digital circuit for fault as address simulation of the input test sets. A mechanism for modelling a fault simulation matrix as the addresses of the deductive vector bits of each element on the test set has been created. The results of good-value and fault as address simulation are rendered and synchronized in the good-value simulation, fault as address simulation, fault simulation matrices on the input set, and on the lines of the logical circuit displayed on the monitor. Modeling and simulation mechanisms encoded and verified using examples of logical circuits of the ISCAS library. The scientific novelty is represented by vector-logical models of digital circuit elements, good-value simulation of test set as address and fault as address simulation of a digital circuit, and fault as address simulation of the input set, using a quadratic simulation matrix.]]>
<![CDATA[A comprehensive review of sound source localization methods for robotics ]]>
<![CDATA[Muhammad Akmal Aliff]]>;
<![CDATA[Emerson Joseph Raja]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v15i2.pp257-266
<![CDATA[Sound source localization (SSL) is a key technology in robotics that allows machines to detect and locate auditory cues in real time. This review provides a thorough examination of SSL techniques classified into classical, artificial intelligence (AI), and hybrid methods. Classical methods, which account for 44% of reviewed studies, excel in computational efficiency and reliability under controlled conditions but have limitations in dynamic environments. AI methods, which account for 16% of studies, use deep learning to adapt to complex scenarios, but they require large datasets and computational resources. Hybrid methods, which combine classical signal processing and AI, are the most robust and accurate, with an average accuracy of 97.45%. The review also looks at the role of microphone arrays in SSL performance, revealing that systems with ten or more microphones achieve the highest accuracy of 99.23%, while single- and dual-microphone systems still perform competitively (97.60% and 97.21%, respectively). These findings suggest that hybrid methods combined with larger microphone arrays are the most effective SSL solution in robotics, balancing precision and adaptability. This paper discusses current SSL trends, challenges, and future research directions, providing insights for the development of advanced auditory systems capable of reliable performance in dynamic, real-world environments.]]>
<![CDATA[Finite time convergence based on third-order integral terminal sliding mode for tracking control perturbed quadrotor UAV ]]>
<![CDATA[Hala Hayder Al-Ankooshi]]>;
<![CDATA[Ali Al-Ghanimi]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v15i2.pp341-352
<![CDATA[Precise trajectory tracking of quadrotor unmanned aerial vehicles (UAVs) remains challenging due to inherent nonlinear dynamics, external disturbances, and model uncertainties encountered during flight operations. This paper presents a novel third-order integral terminal sliding mode control (3-ITSMC) algorithm for regulating the altitude (z) and roll (ϕ) dynamics of a quadrotor UAV subject to wind disturbances and parametric uncertainties. The proposed controller integrates an integral terminal sliding surface with a third-order super-twisting algorithm, achieving precise tracking with near-zero steady-state error, chattering-free control signal, and rapid finite-time convergence. Rigorously established through Lyapunov stability analysis on Closed-loop stability and finite-time convergence. Extensive simulation results conducted under step and sinusoidal reference trajectories with added sinusoidal wind disturbances demonstrate the effectiveness of the proposed method. The 3-ITSMC reduction in root-mean-square (RMS) up to 98.1% in tracking error and energy savings from 51.2% to 95.3% as compared to second-order (SMC), while maintaining preserving robust disturbance rejection throughout operation. These findings achieve that the proposed 3-ITSMC offers a robust and energy-efficient solution for high precision quadrotor control under realistic flight perturbations.]]>
<![CDATA[LiDAR-based sensor fusion and navigation for indoor autonomous mobile robots in warehouse environments ]]>
<![CDATA[Rifda Hakima Sari]]>;
<![CDATA[Jazi Eko Istiyanto]]>;
<![CDATA[Oskar Natan]]>;
<![CDATA[Zaidan Hakim]]>;
<![CDATA[Danang Lelono]]>;
<![CDATA[Andi Dharmawan]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v15i2.pp295-306
<![CDATA[An indoor navigation system for an autonomous mobile robot was developed using LiDAR-based perception and multi-sensor fusion. The system combines 2D LiDAR, inertial measurement unit (IMU), and wheel encoder measurements within a simultaneous localization and mapping (SLAM) framework to support real-time localization, while the ROS2 Nav2 stack manages global path planning and local obstacle avoidance through A*-based planning and costmap-driven control. Evaluation in a warehouse-like environment showed that the robot maintained stable localization with low drift and completed autonomous navigation missions with a success rate of 93.33%. During operation, the robot was able to avoid static obstacles consistently and adjust its trajectory in response to simple dynamic obstacles through online replanning. These results indicate that the proposed system is suitable for practical indoor logistics scenarios requiring reliable navigation in structured environments. At the same time, the findings suggest the need for further improvement to handle environments with higher dynamics and denser obstacle configurations.]]>
<![CDATA[Robust and computationally efficient single-input fuzzy logic‑enhanced nonlinear PID control for a pneumatic servo system ]]>
<![CDATA[Khairun Najmi Kamaludin]]>;
<![CDATA[Lokman Abdullah]]>;
<![CDATA[Syed Najib Syed Salim]]>;
<![CDATA[Zamberi Jamaludin]]>;
<![CDATA[Mohd Nazmin Maslan]]>;
<![CDATA[Mohd Shahrieel Mohd Aras]]>;
<![CDATA[Mohd Fua’ad Rahmat]]>;
<![CDATA[Arief Suardi Nur Chairat]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v15i2.pp397-414
<![CDATA[Precision and robustness are essential for any automation actuator. Due to the nonlinear characteristics of the pneumatic actuator, advanced nonlinear control algorithms provide exceptionally precise control but are sensitive to disturbances. Owing to this factor, an adaptive element is embedded into the control structure to obtain a robust strategy by integrating single input fuzzy logic (SIFL) with the nonlinear hyperbolic PID controller (T NPID). SIFL characterizes a variable rate in the function while reducing computational complexity against an equivalent classical fuzzy logic (FL) by up to 36.5%. The signed distance SIFL selection is also a novel structure that has never been applied in the pneumatics control field. The robustness of the controller is analysed via dynamic stiffness and validated by applying multiple load disturbances. The improvement gained for the T NPID+SIFL’s transient rise time and multi-step IAE index under no load disturbance is 71.381% and 68.854%, respectively, compared with a classical sliding mode controller (SMC). Under a maximum 9 kg load disturbance (limited within the scope of this research), the T NPID+SIFL’s IAE index performance obtained an improvement of 68.638%. When compared with a baseline nonlinear hyperbolic PID (NH PID) strategy under no load disturbance, the steady state error and overshoot also improved by 74.797% and 15.385%, respectively. The results show outstanding performance compared with a robust controller as well as a similar baseline nonlinear PID control. Asymptotic stability analysis, such as the asymptotic tracking region (ATR), will be able to consolidate the trajectory tracking performance together with the experimental validation of a smooth trajectory, simulating a real-time robotic actuator under movement control.]]>
<![CDATA[Development of a low pressure Pneu-Nets actuator using room temperature vulcanizing silicon rubber ]]>
<![CDATA[Nur Rahmah Abdullah]]>;
<![CDATA[Sylvi Febriana Rachmawati Irnadiastputri]]>;
<![CDATA[Mohammad Ikhsan]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v15i2.pp267-280
<![CDATA[Soft robotics offers potential advantages in achieving safer human-robot interaction compared to conventional rigid robots, making it relevant for stroke rehabilitation applications. A major challenge in developing soft actuators lies in selecting materials that balance mechanical performance and practical fabrication. This study investigates room-temperature vulcanizing (RTV) silicone rubber as an alternative to platinum-cured silicone rubber for Pneumatic-Networks (Pneu-Nets) actuators fabrication. The actuator was developed through mold casting with 3D-printed molds and characterized by its contact force and bending angle. This actuator produced a maximum force of 0.93 N and a bending angle of 244.5° at 52 kPa. Finite element analysis (FEA) was performed to simulate its mechanical behavior and validate experimental results. The simulation errors were quantified as 8.3% for contact force and 19.3% for bending angle at 30 kPa, confirming the feasibility of using condensation-cured silicone rubber for efficient soft actuator production.]]>
<![CDATA[Optimized mapping in 2D and 3D network on chip using Bat algorithm ]]>
<![CDATA[Maamar Bougherara]]>;
<![CDATA[Rafik Amara]]>;
<![CDATA[Amina Guidoum]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v15i2.pp488-502
<![CDATA[Communication within system-on-chip (SoC) architectures has evolved significantly to keep pace with the growing complexity of modern applications. To overcome the limitations of traditional interconnects, network-on-chip (NoC) has emerged as a scalable and efficient communication solution. Although early NoC designs relied heavily on 2D architectures, their physical and performance constraints have led to the rise of 3D NoC architectures, which offer better spatial integration and improved performance. In order to automate the NoC design process, a number of electronic design automation (EDA) tools and optimization algorithms are employed to help designers achieve efficient and high-performance designs. Within this EDA framework, one of the most critical stages is the core placement or application mapping phase, where computational tasks are allocated to the processing elements of the architecture. This step is very hard due to its combinatorial nature, and its optimization is essential since it directly impacts communication cost, energy consumption, and overall system performance. To address this challenge, numerous heuristic and metaheuristic algorithms have been explored for both 2D and 3D NoCs. In this paper, we propose an adaptation of the bat algorithm to solve the mapping problem in both 2D and 3D NoC architectures, with the objective of minimizing communication cost. The proposed approach is evaluated and compared against other optimization methods to assess its effectiveness in enhancing NoC performance within the EDA framework.]]>
