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

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APPLICATIONS OF MICRO-ELECTROMECHANICAL SYSTEMS IN ROBOT control

APPLICATIONS OF MICRO-ELECTROMECHANICAL SYSTEMS IN ROBOT CON...

引用

2024 international conference on Electrical Engineering and intelligent control, EEIC 2024

作者： Shi, Peishen School of Robotics Xi’an Jiaotong Liverpool University Suzhou215400 China

ISBN: (纸本)9781837242672

With the rapid changes in science and technology, robotics has gradually moved from science fiction to reality. However, progress in this field has not been easy, and the way of robot control methods has always been a key constraint on their development. Traditional robot control methods often rely on complex programming and pre-determined paths, which are stable, but their precision and autonomy are stretched when faced with complex and changing environments. This limitation not only restricts the application of robots in certain highly sophisticated fields but also affects the user experience and the popularity of robotics. To break through this bottleneck, this paper explores the application of micro-electromechanical systems (MEMS) technology in robot motion control. MEMS technology brings new possibilities for robot control with its tiny size, high precision, and high degree of integration. By reviewing the development of robot control methods, the evolution from the initial mechanical control to the modern electronic control and then to the future intelligent control can be seen. MEMS technology is a key part of this evolutionary process. In this paper, the application cases of MEMS devices in robot control are analysed in depth to demonstrate their advantages in improving the precision of robot movement and enhancing autonomy and adaptability. Through these cases, the effectiveness and potential of MEMS devices in the actual operation of robots can be seen. © The Institution of Engineering & Technology 2024.

关键词： Robot programming

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Research on the emergence mechanism of group leaders 6

Research on the emergence mechanism of group leaders

引用

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

作者： Guo, Jianyong Yuan, Yufei Yu, Peng Chen, Xuebo School of Electronic and Information Engineering University of Science and Technology Liaoning Anshan China School of Intelligent Equipment Engineering Wuxi Taihu University Wuxi China

ISBN: (纸本)9798331541699

The phenomenon of leader emergence is typically defined as a cognitive process of leadership that occurs within a general biological group. This process is indicative of the interactions between groups and individuals within those groups. Therefore, it is important to study the mechanisms of the leader emergence for the formation of leadership, the understanding of group behavior and the research of groups complex systems. Based on the charge force model, the leader emergence is described, in this paper, in terms of a time-varying hybrid potential energy function with uncertain parameters. Based on this potential energy function, the formation process of leaders is analyzed and modeled. This process involves individuals within the group perceiving and recognizing the emergence of leaders through interaction. Computer simulations are performed to illustrate and verify the mechanism and validity of the models. This model not only solves the problem of target generation and target selection of swarm robots, but also simulates the behavior process of self-organization. © 2024 IEEE.

关键词： emergence groups individual interaction self-organizing

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IRAC 2024 Author Information Page

IRAC 2024 Author Information Page

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intelligent robotics and automatic control (IRAC), international conference on

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Intention-Aware Planner for Robust and Safe Aerial Tracking

Intention-Aware Planner for Robust and Safe Aerial Tracking

引用

2024 international conference on intelligent Robots and Systems

作者： Ren, Qiuyu Yu, Huan Dai, Jiajun Zheng, Zhi Meng, Jun Xu, Li Xu, Chao Gao, Fei Cao, Yanjun Zhejiang Univ Coll Control Sci & Engn State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China Zhejiang Univ Huzhou Inst Huzhou 313000 Peoples R China Huzhou Lab Autonomous Intelligent Syst Huzhou 313000 Peoples R China Zhejiang Univ Robot Inst Yuyao 315400 Peoples R China Zhejiang Univ Coll Elect Engn Hangzhou 310027 Peoples R China

ISBN: (纸本)9798350377712;9798350377705

Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the widely used constant velocity or constant rotation assumption can not fully capture the dynamics of the target. The tracker may fail when the target happens to move aggressively, such as sudden turn or deceleration. In this paper, we propose an intention-aware planner by additionally considering the intention of the target to enhance safety and robustness in aerial tracking applications. Firstly, a designated intention prediction method is proposed, which combines a user-defined potential assessment function and a state observation function. A reachable region is generated to specifically evaluate the turning intentions. Then we design an intention-driven hybrid A* method to predict the future possible positions for the target. Finally, an intention-aware optimization approach is designed to generate a spatial-temporal optimal trajectory, allowing the tracker to perceive unexpected situations from the target. Benchmark comparisons and real-world experiments are conducted to validate the performance of our method.

关键词： Aircraft detection

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Simulation and optimization of inchworm-like pneumatic crawling actuator based on ABAQUS software 7

Simulation and optimization of inchworm-like pneumatic crawl...

引用

7th international conference on robotics, control and Automation Engineering, RCAE 2024

作者： Mu, Junqi Zong, Xiaofeng Wei, Yiyang Hou, Xuping China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation Wuhan430074 China

ISBN: (纸本)9798350355642

The actuator, serving as the fundamental power source of a soft robot, functions as its central component. The field of soft robotics has garnered increasing research attention since its inception. Pneumatic crawling robots, being an essential branch within the realm of soft robotics, possess notable characteristics such as rapid response time, cost-effectiveness, and human-computer interaction safety. Consequently, they hold significant research value. Among various types of crawling robots that have garnered considerable interest from researchers is the inchworm crawling robot. This paper aims to address the design and development aspects pertaining to inchworm actuators. By utilizing ABAQUS simulation software and taking displacement as the reference parameter, an analysis was conducted to investigate the impact of various geometric parameters on actuator displacement. Additionally, optimization of these geometric parameters was performed. The values of aspect ratio, length-to-width ratio, vertex angle and gap depth suitable for inchworm-like actuator are obtained. These findings are presented for the first time in the field of crawling soft robots and provide a theoretical basis for the development of pneumatic inchworm-like actuators. © 2024 IEEE.

关键词： Aspect ratio

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Grow-to-Shape control of Variable Length Continuum Robots via Adaptive Visual Servoing

Grow-to-Shape Control of Variable Length Continuum Robots vi...

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2024 international conference on intelligent Robots and Systems

作者： Gandhi, Abhinav Chiang, Shou-Shan Onal, Cagdas D. Calli, Berk Worcester Polytech Inst Dept Robot Engn Worcester MA 01609 USA

ISBN: (纸本)9798350377712;9798350377705

In this paper, we propose an adaptive eye-to-hand vision-based control methodology, which enables a closed-loop grow-to-shape capability for variable length continuum manipulators in 2D. Our method utilizes shape features of the continuum robot, i.e. module curvature and length, which are obtained from the image. Our adaptive control algorithm servos the robot to converge and track the desired values of these features in the image space without the need of a robot model. As a result the robot starts from a minimum length configuration and grows into a given desired shape, always staying on the course of the desired shape. We believe that this approach unlocks capabilities for variable length continuum robots by leveraging their actuation redundancy and avoiding obstacles while carrying out object manipulation or inspection tasks in cluttered and constrained environments. We perform experiments in simulations and on a real robot to assess the performance of our visual servoing algorithm. Our experimental results demonstrate the controllers ability to accurately converge the current features to their references, for a variety of desired shapes in the image, while ensuring a smooth tracking response. We also present some proof of concept results demonstrating the effectiveness of this technique for controlling the robot in constrained environments. Markedly, this is the first successful demonstration for automatic grow-to-shape control using visual feedback for variable length continuum manipulators.

关键词： Visual servoing

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A Force-driven and Vision-driven Hybrid control Method of Autonomous Laparoscope-Holding Robot

A Force-driven and Vision-driven Hybrid Control Method of Au...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Fang, Jin Li, Ling Li, Xiaojian Mo, Hangjie Guo, Pengxin Xiao, Xilin Qu, Yanwei Hefei Univ Technol Sch Management Hefei Peoples R China Hefei Univ Technol Key Lab Proc Optimizat & Intelligent Decis Making Minist Educ Hefei Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Laparoscope-holding robots significantly enhance the stability and precision of visualization in minimally invasive surgeries. Most existing robots of this kind depend on visual servo systems and struggle with efficient, rapid adjustments in the field-of-view (FOV), especially when identifying organs and needles outside the FOV. This paper presents a laparoscope-holding robot system capable of employing both vision-driven and force-driven mechanisms for continuous and large-scale FOV adjustments, respectively. The system features an integrated tactile handle, enabling the reception of human-robot interaction forces during surgical navigation. We propose a hybrid control method that leverages both force and vision inputs for laparoscopic FOV adjustments. This approach integrates a virtual wrench, generated from visual information, and an interaction wrench, obtained from the tactile handle, into the robot's dynamic model, which complies with remote center of motion constraints. The interaction wrench's gain is adjusted with the gripping force on the integrated tactile handle, ensuring that unintended movements caused by accidental contacts are prevented, thus safeguarding operational safety. The proposed method eliminates the need to switch control modes, enabling simultaneous visual tracking and tactile interaction guidance. Experimental results demonstrate that the proposed method not only allows for FOV adjustments with surgical instrument guiding but also adapts well to large-scale FOV adjustment tasks.

关键词： Laparoscopy

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Reinforcement Learning control for Autonomous Hydraulic Material Handling Machines with Underactuated Tools

Reinforcement Learning Control for Autonomous Hydraulic Mate...

引用

2024 international conference on intelligent Robots and Systems

作者： Spinelli, Filippo A. Egli, Pascal Nubert, Julian Nan, Fang Bleumer, Thilo Goegler, Patrick Brockes, Stephan Hofmann, Ferdinand Hutler, Marco Swiss Fed Inst Technol Robot Syst Lab Zurich Switzerland MPI Intelligent Syst Stuttgart Germany Liebherr Hydraulikbagger GmbH Kirchdorf Germany

ISBN: (纸本)9798350377712;9798350377705

The precise and safe control of heavy material handling machines presents numerous challenges due to the hard-to-model hydraulically actuated joints and the need for collision-free trajectory planning with a free-swinging end-effector tool. In this work, we propose an RL-based controller that commands the cabin joint and the arm simultaneously. It is trained in a simulation combining data-driven modeling techniques with first-principles modeling. On the one hand, we employ a neural network model to capture the highly nonlinear dynamics of the upper carriage turn hydraulic motor, incorporating explicit pressure prediction to handle delays better. On the other hand, we model the arm as velocity-controllable and the free-swinging end-effector tool as a damped pendulum using first principles. This combined model enhances our simulation environment, enabling the training of RL controllers that can be directly transferred to the real machine. Designed to reach steady-state Cartesian targets, the RL controller learns to leverage the hydraulic dynamics to improve accuracy, maintain high speeds, and minimize end-effector tool oscillations. Our controller, tested on a mid-size prototype material handler, is more accurate than an inexperienced operator and causes fewer tool oscillations. It demonstrates competitive performance even compared to an experienced professional driver.

关键词： End effectors

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Jerk-limited Traversal of One-dimensional Paths and its Application to Multi-dimensional Path Tracking

Jerk-limited Traversal of One-dimensional Paths and its Appl...

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IEEE international conference on robotics and Automation (ICRA)

作者： Kiemel, Jonas C. Kroeger, Torsten Karlsruhe Inst Technol KIT Inst Anthropomat & Robot Intelligent Proc Automat & Robot IAR IPR Karlsruhe Germany

ISBN: (纸本)9798350384581;9798350384574

In this paper, we present an iterative method to quickly traverse multi-dimensional paths considering jerk constraints. As a first step, we analyze the traversal of each individual path dimension. We derive a range of feasible target accelerations for each intermediate waypoint of a one-dimensional path using a binary search algorithm. Computing a trajectory from waypoint to waypoint leads to the fastest progress on the path when selecting the highest feasible target acceleration. Similarly, it is possible to calculate a trajectory that leads to minimum progress along the path. This insight allows us to control the traversal of a one-dimensional path in such a way that a reference path length of a multi-dimensional path is approximately tracked over time. In order to improve the tracking accuracy, we propose an iterative scheme to adjust the temporal course of the selected reference path length. More precisely, the temporal region causing the largest position deviation is identified and updated at each iteration. In our evaluation, we thoroughly analyze the performance of our method using seven-dimensional reference paths with different path characteristics. We show that our method manages to quickly traverse the reference paths and compare the required traversing time and the resulting path accuracy with other state-of-the-art approaches.

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Exploring in Uneven Terrain: A Novel Map Representation and Decision-Making with Frontier Observations 9

Exploring in Uneven Terrain: A Novel Map Representation and ...

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9th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Zhang, Hongru Fan, Li Zhejiang Univ Huzhou Inst Huzhou 313000 Zhejiang Peoples R China Zhejiang Univ Fac Control Sci & Engn Hangzhou 310007 Zhejiang Peoples R China

ISBN: (纸本)9798350385731;9798350385724

In this paper, we propose an exploration framework for UGVs in uneven terrain. The uneven environment is presented in a novel map called Plane-Oct, which takes the local geometric features to extract frontiers dynamically. To the best of our knowledge, this is the first time that a frontier maintenance strategy in uneven environments has been proposed in the field of wheeled robot exploration. Additionally, we propose viewpoints sampling and trajectory optimization methods especially designed for uneven terrain. Extensive simulation experiments have shown that the framework we proposed can not only robustly maintain frontiers in uneven environments with varying fluctuations, but also reduce ineffective transfer trajectories, thereby shortening the exploration path and improving efficiency. Compared with the baseline, the exploration strategy we proposed consumes less than 10% of exploration time and 15% of trajectory length. Our algorithm code is made publicly available.

关键词： Trajectories

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