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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321-330 订阅

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Formation of the Method of Description and control of the Relative Position of the Gripper Phalanges for Anthropomorphic Robot 1

Formation of the Method of Description and Control of the Re...

引用

1st international conference on Smart Automation and robotics for Future Industry, SMARTINDUSTRY 2024

作者： Trunov, Alexander Petro Mohyla Black Sea National University 68 Desantnikov 10 Mykolaiv54000 Ukraine

The structural and design features and methods of description and improvement of both the mechanical design of grippers of anthropomorphic robots or prosthesis and the methods of model formation and improvement are analyzed. It is proposed to use a stepper motor, an additional brake and rods to drive the phalanges. A combined model of the drive, brakes and tractions has been created. The conducted modeling mostly concerns the drive of the links and the structure of the joints, which involves sensitization of the fingers and the skin of the palm and the skin in general. Formed as a result of recurrent approximation, the model demonstrates how combining modern analytical research methods for automatic control of robots with new distributed sensors improves their technological capabilities. The solution methodology, the system of nonlinear differential equations with additional models of traction and brake elements allowed to introduce design changes to eliminate dead zones. The obtained model methods and impact data are suitable for designing and modeling intelligent robotics and automation systems. © 2024 Copyright for this paper by its authors.

关键词： Brakes

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An Aeromagnetic Compensation Algorithm Based on Broad Learning System 3

An Aeromagnetic Compensation Algorithm Based on Broad Learni...

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3rd international conference on robotics, Artificial Intelligence and intelligent control (RAIIC)

作者： Wang, Qilong Zuo, Chao Jin, Fang Song, Junlei Dong, Kaifeng China Univ Geosci Engn Res Ctr Intelligent Technol Geoexplorat Hubei Key Lab Adv Control & Intelligent Automat C Minist EducSch Automat Wuhan Peoples R China Wuhan Second Ship Design & Res Inst Wuhan 430064 Peoples R China

ISBN: (纸本)9798350352634;9798350352627

Aeromagnetic surveys, renowned for their operational flexibility and high efficiency, serve as a crucial technique for measuring the geomagnetic field. However, aeromagnetic surveys are easily affected by magnetic interference from navigation platforms, making the compensation of aeromagnetic interference a crucial step in the measurement process. To address the inadequate consideration of nonlinear magnetic field interference in traditional compensation algorithms, this paper introduces an aeromagnetic compensation approach based on broad learning system. The broad learning system employs an incremental learning mechanism aimed at enhancing the precision of the network alongside the increase in nodes. With each expansion of the network node, computation is streamlined to calculating the pseudo-inverse of the expansion node, eliminating the necessity for retraining the entire network structure. Leveraging the nonlinear fitting characteristics of the broad learning system, this paper improves the accuracy of aeromagnetic interference compensation. Through UAV flight experiments, the broad learning system is compared with methodologies using particle swarm optimization (PSO) and BP neural network. Compared with PSO, training time was reduced by 21.3% and magnetic interference by 33.6%. Compared with BP neural networks, training time was reduced by 34.9% and magnetic interference by 28.6%. This paper provides references and ideas for the selection of aeromagnetic interference compensation algorithms.

关键词： aeromagnetic compensation broad learning system particle swarm optimization incremental learning

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Stiffness Recognition Method Based on Modal Vibration for Serial Robotic Systems 24

Stiffness Recognition Method Based on Modal Vibration for Se...

引用

24th international conference on control, Automation and Systems

作者： Liang, Siyu Liu, Guangjun Helian, Bobo Wang, Yunfei Tongji Univ Sch Mech Engn Shanghai 200092 Peoples R China Karlsruhe Inst Technol Inst Mobile Machines D-76131 Karlsruhe Germany Shanghai Engn Res Ctr Safety Intelligent Control Shanghai 200032 Peoples R China

ISBN: (纸本)9798331517939;9788993215380

automatic drilling systems based on 6-DOF robots are widely used in aviation manufacturing and other fields. However, as traditional serial robots with weak stiffness, the influence of stiffness on the machining system cannot be ignored in loading or working. Thus, it is significant to recognize the stiffness characteristic of robotic drilling systems precisely and rapidly. This paper presents a comprehensive study of the mechanical properties of serial manipulators, specifically focusing on stiffness and vibration theories. A novel model, the serial rigid links connected by elastic joints (SRLCEJ) with Spong's joints, is introduced to describe the pose deformations under external forces, considering the links as rigid bodies for equivalent joint stiffness conversion. The paper further proposes a dynamic stiffness recognition method, integrating modal vibration theory. The efficacy and accuracy of the proposed theories and methods are validated through simulation results. The findings confirm that joint stiffness parameters can be obtained by vibration responses. In this method, the system stiffness properties can be estimated by neither setting any additional sensor on the end effector nor undertaking any other test when the robot reaches a new posture, which would be more convenient to operate. and may play an important role in robot dynamic stiffness control, online measurement, and real-time error compensation.

关键词： Serial manipulator robotics Stiffness Machine vision Vibration

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Real-Time Estimation for the Swimming Direction of Robotic Fish Based on IMU Sensors

Real-Time Estimation for the Swimming Direction of Robotic F...

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IEEE international conference on robotics and Automation (ICRA)

作者： Li, Shikun Zhai, Yufan Wang, Chen Xie, Guangming Peking Univ Coll Engn Intelligent Biomimet Design Lab State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China Peking Univ Natl Engn Res Ctr Software Engn Beijing 100871 Peoples R China Peking Univ Inst Ocean Res Beijing 100871 Peoples R China

ISBN: (纸本)9798350384581;9798350384574

An increasing number of underwater robots inspired by Carangidae are developed, which is characterized by high efficiency and flexibility. However, estimating the swimming direction of these robotic fish is challenging due to the constant swinging of the head during movement, which complicates precise control. In this study, we installed two low-cost inertial measurement unit (IMU) sensors separately on the head and tail parts of a double-joint robotic fish and presented a method for accurately and timely estimating the swimming direction. Firstly, we effectively compensated for the yaw angle drift of the IMU sensors through a fused Kalman Filter. Furthermore, we propose the Anti-Shake Estimation (ASE) algorithm to calculate the real-time swimming direction using filtered yaw angles at a high updating rate of 100Hz. Finally, we applied the method to swimming direction feedback control for evaluation and comparison. The results show that our ASE method performs better than other existing methods in straight-line swimming experiments. The experiment of S-curve swimming also demonstrates the effectiveness of our method in complex missions.

关键词： Feedback control

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Using Hip Assisted Running Exoskeleton with Impact Isolation Mechanism to Improve Energy Efficiency

Using Hip Assisted Running Exoskeleton with Impact Isolation...

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2024 international conference on intelligent Robots and Systems

作者： Wang, Ziqi Liu, Junchen Li, Hongwu Zhang, Qinghua Li, Xianglong Huang, Yi Ju, Haotian Zheng, Tianjiao Zhao, Jie Zhu, Yanhe Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China

ISBN: (纸本)9798350377712;9798350377705

Research has indicated that exoskeletons can assist human movement, but due to the influence of additional weight and challenges in control strategy design, only a few exoskeletons effectively reduce the wearers' metabolic costs during running. This paper proposes an innovative and efficient hip-assisted running exoskeleton (HARE) designed to facilitate the flexion and extension movements of the joint along the sagittal plane. In the field of structural engineering, we propose implementing an active-passive combination constant force suspension system, hereinafter referred to as CFS, to effectively mitigate the impact of inertial forces during running. The decoupled transmission mechanism allows the CFS and assist mechanisms to operate independently, ensuring the tension of the cables. The flexible structural design can reduce the locomotion limitation on human bodies and reduce the additional energy burden on the body. In control strategy designing, the joint torque-generating strategy provides personalized assistance strategies for wearers to actively optimize the control parameters. Meanwhile, the safety control strategy based on abnormal gait recognition can ensure human safety. Experiments have shown that compared to not wearing exoskeletons, this device can reduce the energy consumption of the human body by 5.33 % at a speed of 9 km/h. This demonstrates its potential in human motion assistance processes.

关键词： Exoskeleton (robotics)

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control and Planning of Rotary Wing Unmanned Aerial Vehicles Applied to High-altitude Cableway Detection

Control and Planning of Rotary Wing Unmanned Aerial Vehicles...

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2024 IEEE international conference on Unmanned Systems, ICUS 2024

作者： Zhang, Xuan Yang, Liying Li, Siliang Huang, Zhaoxiong He, Yuqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China University of Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350384185

A novel detection method is to use unmanned aerial vehicles for the detection of high-altitude passenger *** paper posed a challenging problem for detection system modeling and *** article proposed a method of detecting high-altitude passenger ropeways by connecting two unmanned aerial ***, the structural composition of the detection system was designed according to the testing ***, the dynamic models of the two drones are *** this, a geometric controller is used to ensure the exactly tracking of the planed ***, the feasibility and validity are verified in the experiment. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Adaptive optimal output regulation: A parametric Lyapunov equation approach 5

Adaptive optimal output regulation: A parametric Lyapunov eq...

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5th international conference on control, robotics, and intelligent System, CCRIS 2024

作者： ul Aabidin Lodhi, Zain Jiang, Huaiyuan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin China

ISBN: (数字)9781510685871

ISBN: (纸本)9781510685864

This article delves into a data-driven approach for solving the adaptive optimal output regulation problem in continuous-time linear systems with uncertain dynamics. Employing a class of parametric Lyapunov equations in conjunction with a nominal system model, the initial stabilizing feedback gain is determined to initiate the iterative method. Then, by utilizing a policy-iteration-based technique, we design an optimal control policy to achieve precise output tracking and disturbance rejection. The prescribed convergence characteristics of the closed-loop system directly result from the properties embedded within the solution of the parametric Lyapunov equation. The applicability and performance of the proposed method are demonstrated through a numerical example involving an input-constrained double integrator system. © 2024 SPIE.

关键词： Continuous time systems

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2024 9th international conference on robotics and Automation Engineering, ICRAE 2024

2024 9th International Conference on Robotics and Automation...

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9th international conference on robotics and Automation Engineering, ICRAE 2024

ISBN: (纸本)9798331518301

The proceedings contain 36 papers. The topics discussed include: collaborative learning in bilateral academic training on robotics design and development;mechanical characterization analysis of Kirigami structure for soft robotic design;3D-printed modified pinch valve for controlling pneumatic artificial muscles;research on an automatic execution device for paired axle hole assembly task;topology-guided online trajectory planning for UAV navigation in dynamic environments;a cost-efficient scheme for learning robotics via modeling, simulation & control implementation;cooperative control strategy of dual manipulators based on model reference adaptive admittance control;and augmented differential dynamic programming for humanoid robot flipping motion optimization.

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Learning Efficient Representations for Goal-conditioned Reinforcement Learning via Tabu Search 11

Learning Efficient Representations for Goal-conditioned Rein...

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

作者： Liang, Tianhao Chen, Tianyang Chen, Xianwei Ren, Qinyuan Zhejiang Univ Coll Control Sci & Engn Hangzhou Zhejiang Peoples R China

ISBN: (纸本)9798350364200;9798350364194

An intelligent robot should understand the user-specified goals and execute corresponding skills to fulfill them. In this paper, we study the problem of visual goal-conditioned robot manipulation. In contrast to previous methods, our method improves the successful rate of visual goal-conditioned tasks and the generation ability toward different goals from the aspect of network structure. We also use Tabu Search to select higher-parameters for best learning results. To that end, we propose a slot-based network within Goal-Conditioned Reinforcement-Learning framework. The network can focus on task-related areas while filtering out environmental disturbance. We trained and validated the effectiveness of the proposed network in two simulation environment tasks. The experiments proved that the proposed slot-based network can efficiently extract goal-conditioned information and successfully complete the given task compared to baselines.

关键词： goal-conditioned task visual robot manipulation spatial attention mechanism slot-based network NAS

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2024 9th international conference on control and robotics Engineering, ICCRE 2024

2024 9th International Conference on Control and Robotics En...

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9th international conference on control and robotics Engineering, ICCRE 2024

ISBN: (纸本)9798350372694

The proceedings contain 70 papers. The topics discussed include: development of LIDAR-SLAM integrated low cost health care monitoring robot with sustainable material;adaptive finite-time attitude control of quadrotors under deferred state constraints;intelligent drone design for precision cashew farming;design of a robot to capture toxic gases in underground mines using IoT technology: proof of concept;SiamSGA: Siamese symmetric graph attention tracking;development of a physical prototype based on the theory of the design of wheels for stair climbing;soft robotic honeycomb jamming gripper design;disturbance elimination filter for machine tools;and vehicle control in GNSS-denied environments using map-based localization and model predictive control.

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