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检索条件"任意字段=2024 International Conference on Intelligent Robotics and Automatic Control"

共 5264 条记录，以下是231-240 订阅

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An intelligent Robot with Autonomous for Garbage Collection and Compression

An Intelligent Robot with Autonomous for Garbage Collection ...

引用

2024 international automatic control conference, CACS 2024

作者： Hung, Po-Cheng Wu, Po-Hsun Chen, Sheng-Kai Chang, Shin-Hung Chung Yuan Christian University Department of Electrical Engineering Taoyuan City Taiwan

ISBN: (纸本)9798350354904

This research focuses on developing an intelligent robot for garbage collection and recycling compression. The robot is flexible usage for both autonomous and remote control. With advanced machine vision and image recognition, the robot can identify different types of garbage and follows a fixed route to collect garbage. It has an electric linear actuator for efficient compression and offers safe and flexible control. The most advantage is that the robot is fully electrified, simpler and smaller than a hydraulic system. This research demonstrates a mechatronic system integration with theoretical analysis, concept development, system design, and control flow. Experimental results show the effectiveness of the prototype robot indifferent environments. © 2024 IEEE.

关键词： intelligent robots

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Counterfactual Reasoning and Cognitive Intelligence for Rational Robots 18

Counterfactual Reasoning and Cognitive Intelligence for Rati...

引用

18th international conference on control Automation robotics and Vision

作者： Tao, XueHong Miao, YuXin Miao, Yuan Wang, Guanhua Aziz, Neda Gu, Bruce Lin, GongQi Cui, Lizhen Xu, Yonghui Guo, Wei Swinburne Univ Technol Melbourne Vic 3122 Australia Univ Melbourne Melbourne Vic 3010 Australia Victoria Univ Melbourne Vic 3011 Australia Torrens Univ Adelaide SA 5000 Australia Shandong Univ Jinan 250100 Shandong Peoples R China

ISBN: (纸本)9798331518509;9798331518493

This research proposed a model called rational intelligence and studied its reasoning capability as compared to ChatGPT-4o in counterfactual reasoning tasks. Unlike traditional AI models that rely heavily on data-driven approaches, rational intelligence allows for reasoning over abstract principles and hypothetical scenarios, similar to human cognitive processes. The proposed Rational Intelligence Model (RIM) applies Large Language Models (LLMs) to enable human-like comprehension, knowledge application, and problem-solving capabilities. In complex counterfactual reasoning tasks with scenarios proven to be challenging to human adults, we demonstrate that RIM achieves a clearly higher accuracy rate (76%) compared to ChatGPT-4o (68%), showing its enhanced reasoning capabilities. Additionally, RIM incorporates a self-reflection mechanism to manage knowledge conflicts and gaps, which can further improve its performance and adaptability.

关键词： Counterfactual Reasoning Rational Intelligence Counterfactual thinking ChatGPT Cognition Large Language Model intelligent Robot

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Development of a Bilateral control Teleoperation System for Bipedal Humanoid Robot Utilizing Foot Sole Haptics Feedback

Development of a Bilateral Control Teleoperation System for ...

引用

2024 international conference on intelligent Robots and Systems

作者： Shen, Yang Kanazawa, Masanobu Mori, Kazuki Isono, Ryu Nakazawa, Yuri Takanishi, Atsuo Otani, Takuya Waseda Univ Fac Sci & Engn 3-4-1 OkuboShinjuku Ku Tokyo 1698555 Japan Waseda Univ Fac Sci & Engn Shinjuku City Tokyo Japan Waseda Univ Humanoid Robot Inst HRI Shinjuku City Tokyo Japan Shibaura Inst Technol Coll Syst Engn & Sci Saitama 3378570 Japan Waseda Univ Waseda Res Inst Sci & Engn Shinjuku City Tokyo Japan

ISBN: (纸本)9798350377712;9798350377705

Teleoperating bipedal humanoid robots presents unique challenges, including decreased stability and reduced operator presence. This paper addresses these challenges by proposing a method that leverages the operator's inherent sense of stability by feedback from a sole haptics display to operate a bipedal humanoid robot. We developed a bilateral control system that integrates a device replicating sole haptics feedback and provides the operator with feedback on changes in the robot's center of gravity. We conducted operating experiments in the forward-backward direction to evaluate its effectiveness and investigate the effectiveness of sole haptics on robot operation. The results demonstrate that operating with both vision and sole haptics feedback significantly reduces the robot's fall rate by over 56% when disturbances are applied, compared to using only vision feedback. Moreover, operators reported a 21% higher sense of presence with both vision and sole haptics feedback compared to using only vision feedback.

关键词： Anthropomorphic robots

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Fractional Order Modeling and control of Hydrogel-based Soft Pneumatic Bending Actuators

Fractional Order Modeling and Control of Hydrogel-based Soft...

引用

2024 international conference on intelligent Robots and Systems

作者： De La Morena, Jesus Redrejo, David Ramos, Francisco Feliu, Vicente Vazquez, Andres S. Univ Castilla La Mancha ETS Ingn Ind Ciudad Real 13071 Spain

ISBN: (纸本)9798350377712;9798350377705

Soft pneumatic bending actuators (SPBAs) are commonly employed in soft robotics due to their unique characteristics, including safety, low weight, speed, and load capacity. However, the combination of pneumatics with soft materials causes SPBAs to exhibit nonlinearities and infinite degrees of freedom, complicating their dynamic modeling. In this work, we present how the dynamics of SPBAs can be adjusted to a fractional order model (FOM), showing an approach for their empirical identification. We also present a method for designing fractional order controllers (FOCs) for this type of actuators, based on the inversion of the empirical FOM. This modeling and control is applied to a modular SPBA made of a smart hydrogel, which endows the actuators with self-healing, self-adhesion, and self-sensing capabilities.

关键词： Degrees of freedom (mechanics)

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Hands-free teleoperation of a nearby manipulator through a virtual body-to-robot link 10

Hands-free teleoperation of a nearby manipulator through a v...

引用

10th IEEE RAS/EMBS international conference for Biomedical robotics and Biomechatronics (BioRob)

作者： Poignant, Alexis Jarrasse, Nathanael Morel, Guillaume Sorbonne Univ Inst Intelligent Syst & Robot ISIR INSERM CNRS Paris France

ISBN: (纸本)9798350386523;9798350386530

This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection between a specific body part and the robot's end-effector, visually displayed through an Augmented Reality (AR) headset. This linkage enables the transformation of body rotations into amplified effector translations, extending the robot's workspace beyond the capabilities of direct one-to-one mapping. Moreover, the linkage can be reconfigured using a joystick, resulting in a hybrid position/velocity control mode using the body/joystick motions respectively. After providing a comprehensive overview of the control methodology, we present the results of an experimental campaign designed to elucidate the advantages and drawbacks of our approach compared to the conventional joystick-based teleoperation method. The body-link control demonstrates slightly faster task completion and is naturally preferred over joystick velocity control, albeit being more physically demanding for tasks with a large range. The hybrid mode, where participants could simultaneously utilize both modes, emerges as a compromise, combining the intuitiveness of the body mode with the extensive task range of the velocity mode. Finally, we provide preliminary observations on potential assistive applications using head motions, especially for operators with limited range of motion in their bodies.

关键词： Physically Assistive Devices Telerobotics and Teleoperation

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Deep neural networks based Gravitational Field for Asteroid Landing control 6

Deep neural networks based Gravitational Field for Asteroid ...

引用

6th international conference on robotics, intelligent control and Artificial Intelligence, RICAI 2024

作者： Gong, Menglin Long, Jiateng Zhu, Shengying School of Aerospace Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9798331541699

The irregular shape of the asteroid makes it challenging for precise gravitational field modeling, further impacting control precision and making onboard computational time intolerable for the control law. To enhance the efficiency and accuracy of gravitational field calculations and control for asteroid landing, deep neural networks (DNN) are employed to approximate the asteroid's gravitational field. To this end, the DNN is trained by utilizing samples generated from the polyhedral model. Then, the asteroid gravitational field DNN is applied to multiple sliding surfaces control for asteroid landing. Finally, numerical simulation results of landings on 433 Eros are presented, demonstrating that the DNN yields highly accurate approximations and significantly improves the efficiency of control law resolution. © 2024 IEEE.

关键词： Asteroids

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Garbage classification recognition based on improved YOLOv8 model 2

Garbage classification recognition based on improved YOLOv8 ...

引用

2nd international conference on Signal Processing and intelligent Computing, SPIC 2024

作者： Qin, Lijuan Tang, Xiaoyu Zhang, Feng Shenyang Ligong University School of Information Science and Engineering Shenyang China Chinese Academy of Science State Key Laboratory of Robotics Shenyang Institute of Automation China

ISBN: (纸本)9798350368888

The use of intelligent garbage classification methods and devices for waste sorting is set to become the future trend in waste management. With the development of high-precision image recognition algorithms, research in intelligent garbage classification has gradually matured. The core lies in utilizing image recognition technology to analyze garbage image information, thereby surpassing the limitations of manual sorting and achieving higher standards of speed and accuracy. This paper proposes a target detection scheme based on the introduction of the C2f_RepGhost module into YOLOv8, aiming to construct a model system for efficient garbage identification and classification. Thanks to its streamlined design and real-time response characteristics, this model can operate efficiently on platforms such as smart mobile devices, enabling real-time intelligent automatic classification of various types of waste. © 2024 IEEE.

关键词： Data Augmentation Garbage classification YOLOv8 Improvements

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RoboMed: On-Premise Medical Assistance Leveraging Large Language Models in robotics 18

RoboMed: On-Premise Medical Assistance Leveraging Large Lang...

引用

18th international conference on control Automation robotics and Vision

作者： Basi, Abdul Hussain, Khizar Hanif, Muhammad Abdullah Shafique, Muhammad New York Univ NYU Abu Dhabi Div Engn eBrain Lab Abu Dhabi U Arab Emirates Natl Univ Sci & Technol NUST Comp Engn Dept Islamabad Pakistan

ISBN: (纸本)9798331518509;9798331518493

Large language models (LLMs) are revolutionizing numerous domains with their remarkable natural language processing (NLP) capabilities, attracting significant interest and widespread adoption. However, deploying LLMs in resource-constrained environments, such as edge computing and robotics systems without server infrastructure, while also aiming to minimize latency, presents significant challenges. Another challenge lies in delivering medical assistance to remote areas with limited healthcare facilities and infrastructure. To address this, we introduce RoboMed, an on-premise healthcare robot that utilizes compact versions of large language models (tiny-LLMs) integrated with LangChain as its backbone. Moreover, it incorporates automatic speech recognition (ASR) models for user interface, enabling efficient, edge-based preliminary medical diagnostics and support. RoboMed employs model optimizations to achieve minimal memory footprint and reduced latency during inference on embedded edge devices. The training process optimization involves low-rank adaptation (LoRA), which reduces the model's complexity without significantly impacting its performance. For fine-tuning, the LLM is trained on a diverse medical dataset compiled from online health forums, clinical case studies, and a distilled medicine corpus. This fine-tuning process utilizes reinforcement learning from human feedback (RLHF) to further enhance its domain-specific capabilities. The system is deployed on Nvidia Jetson development board and achieves 78% accuracy in medical consultations and scores 56 in USMLE benchmark, enabling an resource-efficient healthcare assistance robot that alleviates privacy concerns due to edge-based deployment, thereby empowering the community.

关键词： Large language Models automatic Speech Recognition Healthcare Assistance Robot Low-Rank Adaptation (LoRA) Reinforcement Learning from Human Feedback (RLHF) Preliminary Diagnosis

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Stereo-LiDAR Depth Estimation with Deformable Propagation and Learned Disparity-Depth Conversion

Stereo-LiDAR Depth Estimation with Deformable Propagation an...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Li, Ang Hu, Tinning Xi, Wei Yu, Wenxian Zou, Danping Shanghai Jiao Tong Univ Shanghai Key Lab Nav & Locat Based Serv Shanghai Peoples R China Midea Corp Res Ctr Intelligent Percept Inst Foshan Peoples R China Midea Grp Blue Orange Lab Foshan Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness is limited by the low density and non-uniform distribution. To address this issue, we propose a novel stereo-LiDAR depth estimation network with Semi-Dense hint Guidance, named SDG-Depth. Our network includes a deformable propagation module for generating a semi-dense hint map and a confidence map by propagating sparse hints using a learned deformable window. These maps then guide cost aggregation in stereo matching. To reduce the triangulation error in depth recovery from disparity, especially in distant regions, we introduce a disparity-depth conversion module. Our method is both accurate and efficient. The experimental results on benchmark tests show its superior performance. Our code is available at https://***/SJTU-ViSYS/SDG-Depth.

关键词： Depth perception

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Automated Assembly by Two-Fingered Microhand for Fabrication of Soft Magnetic Microrobots

Automated Assembly by Two-Fingered Microhand for Fabrication...

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IEEE international conference on robotics and Automation (ICRA)

作者： Zhao, Yue Liu, Xiaoming Wang, Ruixi Liu, Dan Kojima, Masaru Huang, Qiang Arai, Tatsuo Beijing Inst Technol Key Lab Biomimet Robots & Syst Beijing Adv Innovat Ctr Intelligent Robots & Syst Minist EducState Key Lab Intelligent Control & D Beijing 100081 Peoples R China Beijing Inst Technol Sch Mechatron Engn Beijing 100081 Peoples R China Tsinghua Univ Dept Intelligent Mfg Shenzhen Int Grad Sch Shenzhen 518057 Peoples R China Osaka Univ Dept Mat Engn Sci Toyonaka Osaka 5608531 Japan Univ Electrocommun Ctr Neurosci & Biomed Engn Tokyo 1828585 Japan

ISBN: (纸本)9798350384581;9798350384574

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Microrobots

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