# Approaches and Challenges in Internet of Robotic Things
## 2 IoRT: An Overview
### Abilities of IoRT  
IoRT depends on the robot functionalities, which are categorized into basic-level abilities, higher-level abilities, and system-level abilities, as given in Figure 4. Some of the characteristics of IoRT are mentioned below, along with the taxonomy of abilities. **Perception:** The performance of the robotic system relies on IoRT sensor information and data analytics technologies. Perception interprets vision, sound, smell, and touch using sensors. Perception is carried out through the utilization of technologies such as software engineering, cloud computing, and big data to accomplish M2M interaction, sensor communications, and AI. IoRT has become more sophisticated as a result of IoT. As a result, robots can sense the real-time world to perform complex tasks [6]. **Motion:** The important ability of IoRT in all technologies is the ability to travel. The important factor that plays a role in determining the locomotion of devices is mechanical architecture. For navigating the robots, IoT networking also plays an important role [26; 27; 28]. A robotic equation of motion defines its motion as a function of time and optional control inputs [29]. Equation (1) is written as  
\[F\big{(}\mathbf{q}(t),\ \mathbf{q}^{\prime}\ (t),\mathbf{q}^{\prime\prime}(t),\ \mathbf{k}(t),t \big{)}=0, \tag{1}\]  
where \(t\) is the time variable, \(\mathbf{q}\) is the vector of ordered coordinates, e.g., the vector of combined angles for a manipulator, \(\mathbf{q}^{\prime}\) is the first time derivative (velocity) of \(\mathbf{q}\), \(\mathbf{q}^{\prime\prime}\) is the second time derivative (acceleration) of \(\mathbf{q}\), and \(k\) is the vector of control inputs. **Manipulation and sensing:** Sensing as a service can be implemented for IoRT and robotic system interactions with IoT devices and people. The responsibility of the IoT is to sense the surroundings. The responsibility for catching, shifting, and directing the shape is taken by robots [13; 30; 31]. **Decisional autonomy (DA):** Choosing the best plan for completing a task by a system is called DA. IoT middleware neglects this characteristic and uses API execution (smarts) in its applications, which hides the intrinsic complexity [3; 22; 30]. **Interaction:** This is the ability of robots to communicate systematically and cognitively with other systems in an environment. In the industrial context, the interaction potential highlights how IoT technology may boost HRI. For manufacturers, IoT devices can enhance the robustness of HRI [3; 22; 32; 33]. **Cognition:** This is the ability of IoRT to comprehend a robotic system by sensing the sensor data. IoRT can examine the data from varied systems in the surroundings and take the obligatory way of action. Through this, the intelligence of robots is leveraged [34; 35]. **Control:** Control loops in IoRT can be simply mapped to nearly anything, from virtual things to physical items, from the cloud to multiple networks, granting IoRT autonomy [9; 36]. **Configurability:** Robotic systems are modified for particular tasks or reconfigured for various tasks. IoT is useful in the manufacturing context for software configurability and  
Figure 4: An evaluation of the characteristics of robotic things. the interactive configuration of several computers that contribute different functionality and collaborate to execute complex tasks or jobs. Let \(f_{i}\) be the degrees of freedom of a robot spatial procedure supplied by joint \(i\), and let \(c_{i}\) be the number of constraints given by joint \(i\); it follows that \(f_{i}+c_{i}=m_{i}\) for all \(i\)[37; 38]. Then, [PERSON]'s formulas (Equations (2)-(4)) for the degrees of freedom (_dof_) of the robot are as follows:  
\[dof=m(N-1)-\sum_{i=1}^{j}c_{i}. \tag{2}\]  
\[dof=m(N-1)-\sum_{i=1}^{j}(m-f_{i}). \tag{3}\]  
\[dof=m(N-1-j)+\sum_{i=1}^{j}f_{i}. \tag{4}\]  
The formulas are only retained if all joint constraints are autonomous. If they are not, then the formulas give a lower bound on the number of degrees of freedom.