{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:11:21Z","timestamp":1760231481535,"version":"build-2065373602"},"reference-count":42,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2022,9,21]],"date-time":"2022-09-21T00:00:00Z","timestamp":1663718400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100020326","name":"Universidad Nacional de San Agust\u00edn de Arequipa","doi-asserted-by":"publisher","award":["IBA-IB-27-2020-UNSA"],"award-info":[{"award-number":["IBA-IB-27-2020-UNSA"]}],"id":[{"id":"10.13039\/501100020326","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This document presents an assisted operation system of a robotic arm for positioning near an explosive device selected by the user through the visualization of the cameras on the screen. Two non-converging cameras mounted on the robotic arm in camera-in-hand configuration provide the three-dimensional (3D) coordinates of the object being tracked, using a 3D reconstruction technique with the help of the continuously adaptive mean shift (CAMSHIFT) algorithm for object tracking and feature matching. The inverse kinematics of the robot is implemented to locate the end effector close to the explosive so that the operator can perform the operation of grabbing the grenade more easily. Inverse kinematics is implemented in its geometric form, thus reducing the computational load. Tests conducted with various explosive devices verified the effectiveness of the system in locating the robotic arm in the desired position.<\/jats:p>","DOI":"10.3390\/robotics11050100","type":"journal-article","created":{"date-parts":[[2022,9,22]],"date-time":"2022-09-22T23:07:55Z","timestamp":1663888075000},"page":"100","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Assisted Operation of a Robotic Arm Based on Stereo Vision for Positioning near an Explosive Device"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9897-3710","authenticated-orcid":false,"given":"Andres","family":"Montoya Angulo","sequence":"first","affiliation":[{"name":"Department of Electronic Engineering, Universidad Nacional de San Agust\u00edn de Arequipa, Arequipa 04001, Peru"}]},{"given":"Lizardo","family":"Pari Pinto","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Universidad Nacional de San Agust\u00edn de Arequipa, Arequipa 04001, Peru"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1223-1223","authenticated-orcid":false,"given":"Erasmo","family":"Sulla Espinoza","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Universidad Nacional de San Agust\u00edn de Arequipa, Arequipa 04001, Peru"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0461-470X","authenticated-orcid":false,"given":"Yuri","family":"Silva Vidal","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Universidad Nacional de San Agust\u00edn de Arequipa, Arequipa 04001, Peru"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4749-8400","authenticated-orcid":false,"given":"Elvis","family":"Supo Colquehuanca","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Universidad Nacional de San Agust\u00edn de Arequipa, Arequipa 04001, Peru"}]}],"member":"1968","published-online":{"date-parts":[[2022,9,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1007\/s00405-020-06070-z","article-title":"Robot-based assistance in middle ear surgery and cochlear implantation: First clinical report","volume":"278","author":"Vittoria","year":"2021","journal-title":"Eur. Arch. Otorhinolaryngol."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"986","DOI":"10.1016\/j.promfg.2019.06.097","article-title":"Digital Human and Robot Simulation in Automotive Assembly using Siemens Process Simulate: A Feasibility Study","volume":"34","author":"Baskaran","year":"2019","journal-title":"Procedia Manuf."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Chalup, S., Niemueller, T., Suthakorn, J., and Williams, M.A. (2019). Human Support Robot as Research Platform of Domestic Mobile Manipulator. RoboCup 2019: Robot World Cup XXIII. RoboCup 2019, Springer.","DOI":"10.1007\/978-3-030-35699-6"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Jahanshahi, H., Jafarzadeh, M., Sari, N.N., Pham, V.-T., Huynh, V.V., and Nguyen, X.Q. (2019). Robot Motion Planning in an Unknown Environment with Danger Space. Electronics, 8.","DOI":"10.3390\/electronics8020201"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Tuba, E., Strumberger, I., Zivkovic, D., Bacanin, N., and Tuba, M. (2018, January 8\u201313). Mobile Robot Path Planning by Improved Brain Storm Optimization Algorithm. Proceedings of the 2018 IEEE Congress on Evolutionary Computation (CEC), Rio de Janeiro, Brazil.","DOI":"10.1109\/CEC.2018.8477928"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Bandala, M., West, C., Monk, S., Montazeri, A., and Taylor, C.J. (2019). Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments. Robotics, 8.","DOI":"10.3390\/robotics8020042"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"2407","DOI":"10.1109\/LRA.2019.2901898","article-title":"Robot Motion Planning in Learned Latent Spaces","volume":"4","author":"Ichter","year":"2019","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Arm, P., Zenkl, R., Barton, P., Beglinger, L., Dietsche, A., Ferrazzini, L., and Hutter, M. (2019, January 20\u201324). SpaceBok: A Dynamic Legged Robot for Space Exploration. Proceedings of the 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada.","DOI":"10.1109\/ICRA.2019.8794136"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Grigore, L.\u0218., Oncioiu, I., Priescu, I., and Joi\u021ba, D. (2021). Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot. Appl. Sci., 11.","DOI":"10.3390\/app11093757"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"3415","DOI":"10.1109\/ACCESS.2021.3136850","article-title":"Hand-Eye Calibration of EOD Robot by Solving the AXB = YCZD Problem","volume":"10","author":"Jiang","year":"2022","journal-title":"IEEE Access"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Postigo-Malaga, M., Supo-Colquehuanca, E., Matta-Hernandez, J., Pari, L., and Mayhua-L\u00f3pez, E. (2016, January 19\u201321). Vehicle location system and monitoring as a tool for citizen safety using wireless sensor network. Proceedings of the 2016 IEEE ANDESCON, Arequipa, Peru.","DOI":"10.1109\/ANDESCON.2016.7836272"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Vidal, Y.S., Supo, C.E., Ccallata, C.M., Mamani, G.J., Pino, C.B., Pinto, P.L., and Espinoza, E.S. (2022, January 1\u20134). Analysis and Evaluation of a EOD Robot Prototype. Proceedings of the 2022 IEEE International IOT, Electronics and Mechatronics Conference (IEMTRONICS), Toronto, ON, Canada.","DOI":"10.1109\/IEMTRONICS55184.2022.9795740"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Song, X., Yang, Y., Choromanski, K., Caluwaerts, K., Gao, W., Finn, C., and Tan, J. (2020, January 25\u201329). Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning. Proceedings of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA.","DOI":"10.1109\/IROS45743.2020.9341571"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Paxton, C., Ratliff, N., Eppner, C., and Fox, D. (2019, January 4\u20138). Representing Robot Task Plans as Robust Logical-Dynamical Systems. Proceedings of the 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China.","DOI":"10.1109\/IROS40897.2019.8967861"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"2344","DOI":"10.1109\/TNSRE.2019.2950619","article-title":"Proof of Concept of an Assistive Robotic Arm Control Using Artificial Stereo-vision and Eye-Tracking","volume":"27","author":"Cio","year":"2019","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Rafael Verano, M., Jose Caceres, S., Abel Arenas, H., Andres Montoya, A., Joseph Guevara, M., Jarelh Galdos, B., and Jesus Talavera, S. (2022). Development of a Low-Cost Teleoperated Explorer Robot (TXRob). Int. J. Adv. Comput. Sci. Appl. (IJACSA), 13.","DOI":"10.14569\/IJACSA.2022.01307104"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Stephanidis, C., Antona, M., and Ntoa, S. (2021). Evaluation of a NUI Interface for an Explosives Deactivator Robotic Arm to Improve the User Experience. HCI International 2021\u2014Late Breaking Posters. HCII 2021, Springer.","DOI":"10.1007\/978-3-030-90179-0"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"271","DOI":"10.1007\/s10462-011-9284-0","article-title":"A survey on team strategies in robot soccer: Team strategies and role description","volume":"40","author":"Nadarajah","year":"2013","journal-title":"Artif. Intell. Rev."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Zhao, J., Han, T., Ma, X., Ma, W., Liu, C., Li, J., and Liu, Y. (2021). Research on Kinematics Analysis and Trajectory Planning of Novel EOD Manipulator. Appl. Sci., 11.","DOI":"10.3390\/app11209438"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"1699","DOI":"10.1007\/s00542-019-04475-3","article-title":"Eye-to-hand robotic tracking and grabbing based on binocular vision","volume":"27","author":"Du","year":"2021","journal-title":"Microsyst. Technol."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"305","DOI":"10.1007\/s00542-017-3315-y","article-title":"Eye to hand calibration using ANFIS forstereo vision-based object manipulation system","volume":"24","author":"Wang","year":"2018","journal-title":"Microsyst. Technol."},{"key":"ref_22","unstructured":"Esteves, J.S., Carvalho, A., and Couto, C. (2003, January 9\u201311). Generalized geometric triangulation algorithm for mobile robot absolute self-localization. Proceedings of the 2003 IEEE International Symposium on Industrial Electronics ( Cat. No.03TH8692), Rio de Janeiro, Brazil."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Dune, C., Leroux, C., and March, E. (2007, January 13\u201315). Intuitive human interaction with an arm robot for severely handicapped people\u2014A One Click Approach. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, Noordwijk, The Netherlands.","DOI":"10.1109\/ICORR.2007.4428484"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Kim, D., Lovelett, R., and Behal, A. (2009, January 23\u201326). An empirical study with simulated ADL tasks using a vision-guided assistive robot arm. Proceedings of the 2009 IEEE International Conference on Rehabilitation Robotics, Kyoto, Japan.","DOI":"10.1109\/ICORR.2009.5209527"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Goyzueta, D.V., Guevara, M.J., Montoya, A.A., Sulla, E.E., and Lester, S.Y. (2022). Analysis of a user interface based on multimodal interaction to control a robotic arm for EOD applications. Electronics, 11.","DOI":"10.3390\/electronics11111690"},{"key":"ref_26","unstructured":"Bradski, G.R. (1998). Computer vision face tracking for use in a perceptual user interface. Intel Technol. J."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"139","DOI":"10.1016\/S0166-4115(08)62386-9","article-title":"Development of NASA-TLX (Task Load Index): Results of empirical and theoretical research","volume":"Volume 52","author":"Hart","year":"1988","journal-title":"Advances in Psychology"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"574","DOI":"10.1080\/10447310802205776","article-title":"An empirical evaluation of the system usability scale","volume":"24","author":"Bangor","year":"2008","journal-title":"Int. J. Hum. -Comput. Interact."},{"key":"ref_29","unstructured":"Montoya, A., Pari, L., and Elvis, S.C. (2021, January 23\u201325). Design of a User Interface to Estimate Distance of Moving Explosive Devices with Stereo Cameras. Proceedings of the 2021 6th International Conference on Image, Vision and Computing (ICIVC), Qingdao, China."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"790","DOI":"10.1109\/34.400568","article-title":"Mean shift, mode seeking, and clustering","volume":"17","author":"Cheng","year":"1995","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_31","unstructured":"Murray, D., and Jennings, C. (1997, January 20\u201325). Stereo vision based mapping and navigation for mobile robots. Proceedings of the International Conference on Robotics and Automation, Albuquerque, NM, USA."},{"key":"ref_32","unstructured":"Corke, P. (2017). Robotics, Vision and Control, Fundamental Algorithms in Matlab, Springer. [2nd ed.]."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Sooksatra, S., and Kondo, T. (2013). CAMSHIFT-Based Algorithm for Multiple Object Tracking, Springer.","DOI":"10.1007\/978-3-642-37371-8_33"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Yu, Y., Bi, S., Mo, Y., and Qiu, W. (2016, January 19\u201322). Real-time gesture recognition system based on Camshift algorithm and Haar-like feature. Proceedings of the 2016 IEEE International Conference on Cyber Technology in Automation, CONTROL, and Intelligent Systems (CYBER), Chengdu, China.","DOI":"10.1109\/CYBER.2016.7574846"},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Xiu, C., and Ba, F. (2016). Target Tracking Based on the Improved Camshift Method, IEEE.","DOI":"10.1109\/CCDC.2016.7531607"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"590","DOI":"10.1109\/TRO.2007.896765","article-title":"A Simple and Systematic Approach to Assigning Denavit\u2013Hartenberg Parameters","volume":"23","author":"Corke","year":"2007","journal-title":"IEEE Trans. Robot."},{"key":"ref_37","unstructured":"Trucco, E., and Verri, A. (1998). Introductory Techniques for 3-D Computer Vision, Prentice Hall."},{"key":"ref_38","unstructured":"Feti\u0107, A., Juri\u0107, D., and Osmankovi\u0107, D. (2012, January 21\u201325). The procedure of a camera calibration using Camera Calibration Toolbox for MATLAB. Proceedings of the 2012 Proceedings of the 35th International Convention MIPRO, Opatija, Croatia."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"515","DOI":"10.1016\/S0007-8506(07)61690-4","article-title":"A Displacement Method for Machine Geometry Calibration","volume":"37","author":"Zhang","year":"1988","journal-title":"CIRP Ann."},{"key":"ref_40","doi-asserted-by":"crossref","unstructured":"Lee, R., Wu, T.e., and Guo, J. (2017, January 24\u201327). An Adaptive Cross-Window stereo camera Distance Estimation technology and its system implementation for multiple applications. Proceedings of the 2017 International Symposium on VLSI Design, Automation and Test (VLSI-DAT), Hsinchu, Taiwan.","DOI":"10.1109\/VLSI-DAT.2017.7939669"},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Zhang, J., Chen, J., Lin, Q., and Cheng, L. (2019, January 5\u20137). Moving Object Distance Estimation Method Based on Target Extraction with a Stereo Camera. Proceedings of the 2019 IEEE 4th International Conference on Image, Vision and Computing (ICIVC), Xiamen, China.","DOI":"10.1109\/ICIVC47709.2019.8980940"},{"key":"ref_42","unstructured":"Guevara, J., Pari, P., Vilcapaza, D., Supo, E., Sulla, E., and Silva, Y. (2021, January 24\u201329). Compilation and Analysis of Requirements for the Design of an Explosive Ordnance Disposal Robot Prototype Applied in UDEX-Arequipa. Proceedings of the HCI International 2021 23rd International Conference on Human-Computer Interaction, Virtual."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/11\/5\/100\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:36:48Z","timestamp":1760143008000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/11\/5\/100"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,21]]},"references-count":42,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2022,10]]}},"alternative-id":["robotics11050100"],"URL":"https:\/\/doi.org\/10.3390\/robotics11050100","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2022,9,21]]}}}