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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261-270 订阅

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Lower Limb Exoskeleton Robot control Design Based on TP Transformation 11

Lower Limb Exoskeleton Robot Control Design Based on TP Tran...

引用

11th IEEE international conference on Cybernetics and intelligent Systems (CIS) / 11th IEEE international conference on robotics, Automation and Mechatronics (RAM)

作者： Sun, Zhe Yang, Xicheng Liu, Feng

ISBN: (纸本)9798350364200;9798350364194

This paper presents a method to transform a nonlinear lower limb exoskeleton robot system into a linear convex polyhedron model using tensor product (TP) model transformation. The angle and angular acceleration information of the hip joint and the knee joint of the robot are taken as variable parameters, and the dynamic equation of the flexible joint robot is divided isometric and stored in the tensor. Then, higher-order singular value decomposition (HOSVD) is used to compute the singular value of the tensor and the corresponding eigenvector. The polyhedron model's weight function is constructed using the eigenvectors, and a linear time-invariant (LTI) system with finite vertices is obtained. Then linear matrix inequality (LMI) is used to solve the controller. Finally, a simulation of trajectory tracking is carried out, and the simulation results show the effectiveness of the proposed strategy.

关键词： Lower limb exoskeleton robot TP transformation LMI HOSVD qLPV model

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Differentiable Fluid Physics Parameter Identification By Stirring and For Stirring

Differentiable Fluid Physics Parameter Identification By Sti...

引用

2024 international conference on intelligent Robots and Systems

作者： Xu, Wenqiang Zheng, Dongzhe Li, Yutong Ren, Jieji Lu, Cewu Shanghai Jiao Tong Univ Qing Yuan Res Inst Shanghai Peoples R China Shanghai Jiao Tong Univ MoE Key Lab Artificial Intelligence AI Inst Shanghai Peoples R China SJTU Shanghai Peoples R China

ISBN: (纸本)9798350377712;9798350377705

Fluid interactions are crucial in daily tasks, with properties like density and viscosity being key parameters. The property states can be used as control signals for robot operation. While density estimation is simple, assessing viscosity, especially for different fluid types, is complex. This study introduces a novel differentiable fitting framework, DiffStir, tailored to identify key physics parameters through stirring. Then, given the estimated physics parameters, we can generate commands to guide the robotic stirring. Comprehensive experiments were conducted to validate the efficacy of DiffStir, showcasing its precision in parameter estimation when benchmarked against reported values in the literature. More experiments and videos can be found in the supplementary materials and on the website: https://***.

关键词： robotics

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Nonlinear Output Feedback control for Double-Pendulum Aerial Transportation Systems with Variable-Length Cable

Nonlinear Output Feedback Control for Double-Pendulum Aerial...

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2024 IEEE international conference on Real-Time Computing and robotics, RCAR 2024

作者： Yu, Hai Wang, Yang Liu, Bingbing Han, Jianda Fang, Yongchun Liang, Xiao Nankai University The Institute of Robotics and Automatic Information System College of Artificial Intelligence The Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9798350372601

Implementing aerial transportation systems in real-world scenarios is becoming feasible. Due to the ability to dynamically adjust the distance between quadrotor and cargo, the aerial transportation system with variable-length cable (ATSVC) holds significant value in applications such as tunnel traversal and obstacle avoidance. However, existing studies often overlook the hook, which means that the double-pendulum effect is ignored. In practical systems, there exists complex dynamic coupling among the motion of quadrotor, variations in cable length, and the swing motion of hook and cargo. Besides, the velocity information in real-world environments cannot be accurately measured, which makes precise control extremely challenging. To address the aforementioned challenges, this paper introduces an output feedback control method for the double-pendulum ATSVC. Specifically, the proposed method operates without the need for velocity information and effectively constrains the quadrotor's overshoot within a prescribed scope. Lyapunov techniques and LaSalle's Invariance Theorem are employed to prove the stability of the closed-loop system. Numerical simulations are implemented to verify the proposed method's performance. © 2024 IEEE.

关键词： Pendulums

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Stiffness-Based Hybrid Motion/ Force control for Cable-Driven Serpentine Manipulator

Stiffness-Based Hybrid Motion/ Force Control for Cable-Drive...

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IEEE international conference on robotics and Automation (ICRA)

作者： Li, Wenshuo Xu, Wenfu Huang, Peisheng Lin, Boyang Liang, Bin Tsinghua Univ Dept Automat Beijing 100854 Peoples R China Harbin Inst Technol Sch Mech Engn & Automat Shenzhen 518055 Peoples R China Guangdong Key Lab Intelligent Morphing Mech & Ada Guangzhou 518055 Peoples R China

ISBN: (纸本)9798350384581;9798350384574

In recent years, there has been a growing demand for robotic manipulators to perform tasks in various unstructured environments and situations requiring precision and force control. However, traditional robotic arms have limitations in fully leveraging their advantages in such scenarios. To address this demand, we have designed a cable-driven serpentine manipulator (CDSM) that combines force and precision motion control. This control method allows for precise manipulation of forces and torques at the end-effector, particularly in applications like electric vehicle charging and narrow-space exploration. It also enables independent control in multiple configurations. We achieve force-position hybrid control in task space, ensuring accurate control of end-effector force while achieving precise position control in other directions. Additionally, we implement joint angle closed-loop control in joint space to reduce the impact of cable elasticity deformation and friction on joint motion accuracy. Finally, servo control is applied at the lowest motor level. This paper investigates the modeling, sensing, and control of CDSM within a unified framework of hybrid motion/force control. Through experiments and simulations, we demonstrate the high accuracy and practicality of this control method in various scenarios.

关键词： Cable-driven serpentine manipulator Stiffness modeling Hybrid motion/ force control

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Trajectory-prediction-based Dynamic Tracking of a UGV to a Moving Target under Multi-disturbed Conditions

Trajectory-prediction-based Dynamic Tracking of a UGV to a M...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Si, Jinge Li, Bin Xu, Yongkang Wang, Liang Deng, Chencheng Wang, Shoukun Wang, Junzheng Beijing Inst Technol Sch Automat State Key Lab Intelligent Control & Decis Complex Beijing Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Tracking dynamic targets poses a significant challenge for Unmanned Ground Vehicles (UGVs). Existing methods often lack research on multi-disturbed conditions. To address this issue, we propose a trajectory-prediction-based dynamic tracking scheme, which includes target localization, trajectory prediction, and UGV control. Firstly, an estimation algorithm based on the Extended Kalman Filter (EKF) is employed to mitigate noise and estimate the absolute states of the target accurately. To enhance robustness, we present an Adaptive Trajectory Prediction (ATP) algorithm based on prediction anchors. In this method, a quantization standard for trajectory disturbance is designed for adaptive control. Subsequently, we iteratively solve prediction anchor points based on two motion models to robustly predict the target trajectory even in the presence of unknown disturbances. Finally, the Linear Time-Varying Model Predictive control (LTV-MPC) is utilized in the UGV controller for dynamic tracking. Experimental results demonstrate that the ATP exhibits superior prediction robustness and accuracy in perturbed environments compared to other prediction algorithms. In addition, the proposed scheme effectively achieves dynamic tracking of the Unmanned Aerial Vehicle (UAV) by the UGV under multi-disturbed conditions. Specifically, when the target moves at a speed of 1.0 m/s, the UGV can maintain a tracking error within 0.346 m.

关键词： Extended Kalman filters

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intelligent Recognition and control System for Flexible Robotic Hands Based on Multi-channel Tactile Sensing 6

Intelligent Recognition and Control System for Flexible Robo...

引用

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

作者： Jin, Kaibo Ren, Xiaoquan School of Artificial Intelligence Henan University Zhengzhou China

ISBN: (纸本)9798331541699

With the development of intelligent manufacturing and robotic technology, flexible robotic hands have demonstrated substantial application potential in fields such as industrial automation and medical devices due to their flexibility and adaptability. However, traditional visual recognition methods have limitations in acquiring mechanical properties of objects, such as hardness and texture, which makes it difficult to achieve accurate recognition under complex environments. To address these limitations, this paper proposes a multi-channel tactile sensing system based on the STM32F1 microcontroller, aiming to endow the flexible robotic hand with efficient object recognition and grasp control capabilities. The system integrates multiple thin-film pressure sensors, with a Convolutional Neural Network (CNN) employed to process the pressure data in multiple channels, extracting tactile features layer by layer and analyzing the dynamic mechanical information during the grasping process. Experimental results indicate that the designed system achieves an accuracy of 97.9% in the classification tasks involving objects with various hardness levels, verifying the robustness and accuracy of the system in identifying diverse objects. © 2024 IEEE.

关键词： Convolutional neural networks

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Efficient Multi-task Learning for Road Scene Classification: Scene, Time, and Weather Predictions 20

Efficient Multi-task Learning for Road Scene Classification:...

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20th IEEE international conference on intelligent Computer Communication and Processing conference, ICCP 2024

作者： Prykhodchenko, Roman Skruch, Pawel Agh University of Science and Technology Department of Automatic Control and Robotics Cracow Poland

ISBN: (纸本)9798331539979

This paper addresses the task of road scene classification by leveraging multi-task learning (MTL) to improve model performance and computational efficiency. We employ the BDD100K dataset, which provides diverse driving scenarios, and apply data augmentation and balancing techniques to mitigate class imbalances. Our methodology integrates a ResNet18 backbone pre-trained on ImageNet, extended with task-specific heads for scene type, time of day, and weather classification. Uniform Manifold Approximation and Projection (UMAP) is used for dimensionality reduction and visualization of feature embeddings. Experiments demonstrate that our MTL approach significantly enhances classification accuracy across tasks, with notable performance in time-of-day classification. The proposed model achieves robust results despite class imbalances, validated through confusion matrices and UMAP visualizations. Our findings highlight the benefits of MTL in road scene classification, offering insights for future research in autonomous driving and computer vision. © 2024 IEEE.

关键词： Dimensionality reduction

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Brain Computer Interface (BCI)-Enhanced Knee Exoskeleton control for Assisted Sit-to-Stand Movement

Brain Computer Interface (BCI)-Enhanced Knee Exoskeleton Con...

引用

IEEE/ASME international conference on Advanced intelligent Mechatronics (AIM)

作者： Zhu, Chunchu Maurya, Sushant Yi, Jingang Dutta, Ashish Rutgers State Univ Dept Mech & Aerosp Engn Piscataway NJ 08854 USA Indian Inst Technol Dept Mech Engn Kanpur 208016 Uttar Pradesh India

ISBN: (纸本)9798350355376;9798350355369

As the aging and disabled populations grow, the demand for effective assistance in daily activities such as sit-to-stand (STS) has been increasing. Wearable exoskeletons are a promising technology for reducing the effort required for STS. This study explores the sensor fusion of electroencephalography (EEG) signals, which reveal pre-movement intentions, with inertial measurement unit (IMU) data, offering real-time motion information for enhanced knee exoskeleton control in STS assistance. The EEG-IMU sensor fusion approach improves the temporal accuracy and robustness of STS intention detection. By detecting STS intentions with lower latencies, the knee exoskeleton provides timely and smooth support, enhancing the user experience. The proposed method reduces system latency, enabling rapid user-exoskeleton interaction. Experimental results demonstrate the effectiveness of the brain-computer interface (BCI)-enhanced knee exoskeleton for improving STS efficiency and user experience.

关键词： Exoskeleton (robotics)

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Nonlinear Neural control Strategies versus Conventional control - Case Study and Performance Comparison 24

Nonlinear Neural Control Strategies versus Conventional Cont...

引用

international conference on Automation, Quality and Testing, robotics (AQTR)

作者： Tudoroiu, Roxana-Elena Santa, Maria Magdalena Florian, Horatiu Zaheeruddin, Mohammed Radu, Sorin Mihai Tudoroiu, Nicolae Univ Petrosani Math & Comp Sci Petrosani Romania Tech Univ Cluj Napoca Dept Automat Cluj Napoca Romania Concordia Univ Bulding Civil & Environm Engn Dept Montreal PQ Canada Univ Petrosani Mech Ind & Transportat Engn Petrosani Romania John Abbott Coll Engn Technol Dept Ste Anne De Bellevue PQ Canada

ISBN: (纸本)9798350361940;9798350361933;9798350361919

The main objective of this paper is to design and implement in MATLAB Simulink R2023b programming environment an intelligent nonlinear neural control strategy for a full-state feedback linearization nonlinear plant model which belongs to a particular class of second degree of linearization. The key idea consists of the use the input-output dataset measurements of a conventional proportional-integralderivative controller connected in a closed loop control structure with the nonlinear plant. It works in real time based on the online acquisition of the input-output dataset that is processed by a combination of shallow or deep learning neural network structures for its mapping. For "proof concept" and simulation purposes, a model of a shunt-connected dc motor is under investigation as a case study. The effectiveness of the proposed algorithm is demonstrated through an intensive number of simulations conducted on MATLAB Simulink programming platform. For performance analysis comparison, a benchmark is constructed based on the statistic indicators calculated for three control strategies, very useful to reveal the improvements.

关键词： dc motor feedback linearization pid control neural network pid adaptive control speed control strategy MATLAB Simulink Simscape model

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Robot-Assisted Ultrasound Probe Force control Under Respiration-Induced Motion

Robot-Assisted Ultrasound Probe Force Control Under Respirat...

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IEEE/ASME international conference on Advanced intelligent Mechatronics (AIM)

作者： Yuan, Kai-Shiang Lee, Yu-Hsiu Natl Taiwan Univ Dept Mech Engn Taipei Taiwan

ISBN: (纸本)9798350355376;9798350355369

A robot-assisted force control system for stable ultrasound imaging has been developed for abdomen intervention. The system aims to integrate 6-DoF robot arm, 6-axis force/torque sensor, and ultrasound probe, featuring automatic stabilization during intervention and real-time compensation for respiratory disturbance. Following the procedural workflow, the system has two operational modes. The first, rooted in admittance control, swiftly positions the robotic-held ultrasound for efficient registration. The second mode, employing the proposed adaptive control, ensures stable contact despite respiratory motion influences, enhancing procedural resilience and effectiveness. The adaptive controller predicts and eliminates disturbances more effectively than the baseline admittance controller, thanks to its utilization of the pseudo-periodic nature of respiration. The efficacy of the adaptive controller has been verified through experiments with a sponge abdomen phantom, demonstrating significant improvements in force regulation.

关键词： Adaptive control systems

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