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检索条件"任意字段=2nd International Conference on Control and Robot Technology, ICCRT 2019"

共 3019 条记录，以下是1-10 订阅

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Proceedings of 2019 2nd international conference on control and robot technology, iccrt 2019

Proceedings of 2019 2nd International Conference on Control ...

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2nd international conference on control and robot technology, iccrt 2019

ISBN: (纸本)9781450372527

The proceedings contain 26 papers. The topics discussed include: structural innovation of driving mechanism of transmission line inspection robot based on substance-field conflict joint iterative solution model;the design of sliding mode controller for knee joints of the humanoid robots;design on control system of bionic crawling inspection robot;research on elderly fall prediction for walking posture of elderly-assistant robot;design on bionic grasping mechanism for flight inspection robot landing on high-voltage transmission line;multi-robot routing and scheduling with temporal logic and synchronization constraint;omnidirectional three module robot design and simulation;an adaptive neural network control method for hypersonic vehicle;and research on peak current mode control method of battery discharge regulator.

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Vision-Based Leader-Follower Formation control for Mobile robots 24

Vision-Based Leader-Follower Formation Control for Mobile Ro...

引用

2nd international conference on Artificial Intelligence, Systems and Network Security, AISNS 2024

作者： Wan, Qin Ning, Shunxing Xu, Pin Li, Zhi Hunan Institute of Engineering Hunan Xiangtan China National Engineering Research Center for Robot Visual Perception and Control Technology Hunan Changsha China

ISBN: (纸本)9798400711237

This paper proposes a vision-based formation control method for multi-robot systems in the absence of inter-robot communication, employing a leader-follower scheme with a single Kinect camera as the sole sensor. By utilizing a pose estimation algorithm based on RGBD images, the relative position and orientation of the leader are captured. An anticipated formation shape aligned in the same movement direction is generated using a dipole vector field, ensuring formation stability. To address the limited field of view of the Kinect camera, an auxiliary system is designed to transform visibility constraints into input constraints, enabling effective control under non-communicative conditions. Simulation and experimental results demonstrate that the proposed method achieves real-time and robust formation control despite visibility limitations, simplifying the system architecture and enhancing practicality. © 2024 Copyright held by the owner/author(s).

关键词： Mobile robots

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Robust Fixed-time Composite controller Design with the Unknown System Dynamics Estimator for Nonlinear robotic Manipulator Systems 24

Robust Fixed-time Composite Controller Design with the Unkno...

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2nd international conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024

作者： Li, Siyan Xing, Yashan Na, Jing Li, Qi Faculty of Mechanical and Electrical Engineering Yunnan Key Laboratory of Intelligent Control and Application Kunming University of Science and Technology Yunnan China

ISBN: (纸本)9798400710681

In this paper, a robust fixed-time composite control scheme based on an Unknown System Dynamics Estimator (USDE) is proposed. The proposed control method guarantees the tracking error convergence in a fixed-time for nonlinear robotic manipulators with unknown dynamics and disturbance. To address the existence of uncertainties, first, a simple structure of USDE by a low-pass filtering operation is constructed without using acceleration signals, Which is adjusted for only one filter coefficient. Then, the USDE compensate the estimated value into the robust fixed-time composite controller. The composite controller contains a fixed time control term, a robust control term, and a computed torque control term. By the fixed-time control term, the upper bound on the convergence time is independent of the initial conditions of the system, which ensures fast-tracking tasks for the robot manipulator. And the robust control term is used to reduce the impact of USDE estimation errors. The stability of the closed-loop system is demonstrated through Lyapunov criteria. The validity of the proposed method is verified by simulation. © 2024 Copyright held by the owner/author(s).

关键词： Stability criteria

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Discrete-Time Extended-State-Observer Based Prescribed Performance control for robot Manipulators 24

Discrete-Time Extended-State-Observer Based Prescribed Perfo...

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2nd international conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024

作者： Cheng, Yun Hu, Shuangyi Chen, Qiang College of Information Engineering Zhejiang University of Technology Zhejiang Hangzhou China

ISBN: (纸本)9798400710681

For the high-precision tracking control of robot manipulators with unknown nonlinearities, modeling uncertainties and digital controller, a discrete-time extended-state-observer (DESO)-based prescribed performance control (PPC) is proposed in this paper. Firstly, for simplifying the controller design and further improving the tacking accuracy, the unknown nonlinearities, modeling uncertainties and external disturbances are considered as a lumped part and extended to a new system state, which is estimated by a designed DESO. In addition, the original discrete-time system (relative degree is two) with extended state is reformed as a new equivalent system to fit the DESO design. Then, the estimated disturbance is incorporated into a designed non-singular discrete-time PPC to confine the tracking error performance, i.e., the designed control signal is finite for any bounded tracking error. Furthermore, the stability of DESO and preset constraints of the tracking error have been proved theoretically. Finally, simulation results demonstrate the validity of the proposed discrete-time PPC strategy. © 2024 Copyright held by the owner/author(s).

关键词： State estimation

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Flexible assembly strategy of curtain wall based on admittance control 24

Flexible assembly strategy of curtain wall based on admittan...

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2nd international conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024

作者： Sun, Huayan Li, Fengming Liu, Enguang Du, Fuxin Song, Rui Shandong Jianzhu University Shandong Jinan China Shandong Transportation Research Institute Shandong China Shandong University Shandong Jinan China

ISBN: (纸本)9798400710681

Aiming at the problems of small assembly position tolerance and position uncertainty in the robotic curtain wall assembly process, this study proposes a flexible assembly strategy of curtain wall based on the admittance control. In this paper, the robotic curtain wall assembly is divided into 2 stages, the contact stage and the installation stage, and the curtain wall assembly actions are designed for different stages. In addition, considering the needs of practical applications, a position-based admittance control method is developed, and a complete control strategy is designed according to the needs of the phases of curtain wall assembly. The proposed pliable assembly strategy is verified in the constructed curtain wall assembly system. The experimental results show that the flexible assembly strategy of curtain wall based on admittance control can stably comply with external constraints and achieve the target of curtain wall assembly during the process of curtain wall assembly, and the maximum contact force does not exceed 2.2% of the target. © 2024 Copyright held by the owner/author(s).

关键词： robotic assembly

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Design and Evaluation of a Novel Masked Face Feature Model for Face Recognition on Service robot 24

Design and Evaluation of a Novel Masked Face Feature Model f...

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2nd international conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024

作者： Zhang, Yunxi Wu, Jiabao Zhao, Ya Wang, Zihan Liu, Jia Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin University of Technology and Education Tianjin China School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin China Qingdao City University Shandong China

ISBN: (纸本)9798400710681

Traditional face recognition techniques exhibit suboptimal accuracy when dealing with faces occluded by masks, particularly posing a challenge for masked face identification. Considering the application characteristics of the service robot, this paper proposes a face recognition method based on a special obscured face feature model. By leveraging the unique characteristics of masked faces, we construct a new feature model and curate a diverse dataset encompassing faces wearing both N95 and common medical masks, thereby enhancing the representativeness and variability of the dataset. Employing a cascade regression tree method for training and parameter tuning, we obtain an optimized regressor with minimal error. Face recognition is achieved through comparing feature vectors using Euclidean distance. Extensive testing on the curated dataset demonstrates the effectiveness of our proposed method, not only validating its superiority over traditional techniques but also showcasing its improved success rate in masked face recognition. © 2024 Copyright held by the owner/author(s).

关键词： robots

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Autonomous Real-Time Human-robot Emotional Interaction Through Facial Recognition 2nd

Autonomous Real-Time Human-Robot Emotional Interaction Throu...

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2nd international conference on Intelligent Manufacturing and robotics, ICIMR 2024

作者： Ma, Wenning Jin, Nanlin Guan, Steven Xi’an Jiaotong-Liverpool University Suzhou215400 China

ISBN: (纸本)9789819639489

This project aims to address the limitations in existing human-robot interaction systems by developing a real-time facial expression recognition and emotion response system using a Raspberry Pi-based humanoid robot. Unlike traditional systems that rely solely on explicit commands, our system enables the robot to autonomously respond to human emotions, demonstrating a level of emotional intelligence. This approach enhances the naturalness and human-like- ness of robot interactions. Our system processes real-time video feeds captured by a camera to identify user expressions, focusing specifically on sadness and happiness. Upon detecting a sad expression, the robot performs a song and dance routine to uplift the user’s mood and ceases the performance once a happy expression is recognized. Experimental results indicate that the system effectively recognizes emotions and improves users’ emotional states, showcasing its potential applications in therapeutic and interactive environments. The integration of deep learning with robotic control offers a novel approach to enhancing human-robot interaction through emotional intelligence. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Anthropomorphic robots

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Creative robotics: Designing Waving-Hand Dancing robots 2nd

Creative Robotics: Designing Waving-Hand Dancing Robots

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2nd international conference on Intelligent Manufacturing and robotics, ICIMR 2024

作者： Li, Kexin Hajjaj, Sami Salama Hussen School of Robotics Xi’an Jiaotong-Liverpool University 111 Taicang Avenue Taicang Jiangsu Suzhou215400 China School of Engineering and Technology Sunway University No. 5 Jalan Universiti Selangor Darul Ehsan Bandar Sunway47500 Malaysia

ISBN: (纸本)9789819639489

This project explores the integration of creative robotics with artistic expression through the development of a dancing robot series, focusing on a robotic arm that performs waving hand movements in sync with different types of music. Utilizing Arduino for hardware control and Python for programming, the project bridges the gap between mechanical precision and creative performance. The methodology includes designing and assembling the robotic arm, selecting appropriate sensors and actuators, and programming responsive dance movements triggered by auditory cues. The Arduino Uno, paired with an LM386 sound sensor, was chosen for its cost-effectiveness and ease of use, while MG90S servo motors enabled smoother, dynamic movements. Challenges included fine-tuning sound detection and optimizing motor control for fluid motion, which were addressed by adjusting sensor sensitivity and refining data processing. The findings demonstrate the successful creation of a robot that performs distinct waving movements based on music genres, showcasing the potential of creative robotics in merging technology with art, and highlighting the effectiveness of Arduino and Python in developing responsive, interactive systems. Future improvements could involve enhancing sound recognition accuracy and expanding the robot’s repertoire of dance moves with more advanced hardware and coding techniques. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： robot programming

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Vision-Based Non-anthropomorphic robot Teleoperation Considering Human Arm Configuration 2nd

Vision-Based Non-anthropomorphic Robot Teleoperation Conside...

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2nd international conference on the Frontiers of robotics and Software Engineering, FRSE 2024

作者： Xiang, Jindong Xiang, Ruiqi Wang, Jiangnan Wang, Baichuan Ye, Yongyin Wang, Xiyu Li, Mengtang School of Intelligent Systems Engineering Shenzhen Campus of Sun Yat-Sen University Shenzhen518107 China Guangdong Provincial Key Laboratory of Fire Science and Technology Guangzhou510006 China

ISBN: (纸本)9789819630127

Teleoperation enables humans to perform tasks in complex and dangerous environments more safely and comfortably. Current vision-based methods for non-anthropomorphic robotic teleoperation focus mainly on tracking and imitating human motion to control the robot’s end-effector. However, in complex environments, these methods that lack direct control over other robotic joint configurations may encounter obstacle avoidance issues. Therefore, we proposed a method for generating human-like joint configurations in vision-based non-anthropomorphic robotic teleoperation. This method captures human motion data using only a monocular RGB camera and translates it into robotic motion. Specifically, a novel inverse kinematics solver is developed to calculate the robot’s human-like joint configuration. Through simulation experiments, the human-likeness of the robot’s posture and the tracking performance of its end-effector were analyzed, validating the effectiveness of the proposed method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Anthropomorphic robots

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Dynamic Music-Responsive robotics: Development of a Mobile Dancing robot for Interactive Performance 2nd

Dynamic Music-Responsive Robotics: Development of a Mobile D...

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2nd international conference on Intelligent Manufacturing and robotics, ICIMR 2024

作者： Xian, Qixin Hajjaj, Sami Salama Hussen School of Robotics Xi’an Jiaotong-Liverpool University 111 Taicang Avenue Jiangsu Province Suzhou Taicang215400 China School of Engineering and Technology Sunway University No. 5 Jalan Universiti Selangor Darul Ehsan Bandar Sunway47500 Malaysia

ISBN: (纸本)9789819639489

This project focuses on the development of a sophisticated mobile dancing robot capable of dynamically responding to musical inputs. The robot is outfitted with 19 servos and an array of sensors and components, enabling it to synchronize its movements precisely with audio signals. At the heart of this system is the Arduino Mega, serving as the central control unit that orchestrates the robot’s operations with precision and reliability. Key components driving this innovation include the PCA9685 module, which efficiently manages multiple servos, and the MAX4466 microphone amplifier, which is crucial for accurate sound level detection. Additionally, the MPU6050 sensor is employed for real-time control of upper limb movements, ensuring that the robot’s gestures are both fluid and responsive. The MSGEQ7 audio spectrum analyzer plays a pivotal role by dividing audio into seven frequency bands, allowing the robot to execute movements that are intricately linked to distinct audio frequencies. The development process involved meticulous selection and assembly of the mechanical structure, coupled with the programming of an advanced control system. Sensor calibration was a critical step, ensuring the robot’s responses to audio inputs were both precise and consistent. Each component was seamlessly integrated, resulting in smooth, coordinated movements that reflect the music’s rhythm, intensity, and frequency. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Spectrum analyzers

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