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检索条件"任意字段=5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023"

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2023 wrc symposium on advanced robotics and automation, wrc sara 2023

2023 WRC Symposium on Advanced Robotics and Automation, WRC ...

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5th world robot conference symposium on advanced robotics and automation, wrc sara 2023

ISBN: (纸本)9798350307320

the proceedings contain 87 papers. the topics discussed include: a novel dynamic motion planning based on error tolerance batch informed tree;a safety motion planning algorithm for mobile manipulator based on improved LSTM neural network and capability map;embroidery robotics: an innovative approach to ai-based online learning and image generation;trajectory planning of robot end-effector position and orientation based on cubic spline;the control system for 5-DOF magnetic levitation capsule robot;a fuzzy inference system on probabilistic roadmap for multi-robot path planning;root canal therapy assisted robot system;sensor fusion based humanoid robotic arm control;Bayesian optimization of double-sac robotic arm path planning using recent prioritized experience replay;and design and analysis of an end-effector with dual RCM mechanism for robotic extracorporeal shock wave therapy in orthopedics.

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Bio-inspired Control of a Rehabilitation robot Actuated by Pneumatic Artificial Muscles 5

Bio-inspired Control of a Rehabilitation Robot Actuated by P...

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5th world robot conference symposium on advanced robotics and automation, wrc sara 2023

作者： Cheng, Maotong Zhu, Wenxin Ren, Qinyuan Zhejiang University Control Science and Engineering Hangzhou China

ISBN: (纸本)9798350307320

Wearable rehabilitation robots can bring great help to the elderly and sport injury patients. However, most of the current traditional rehabilitation robots adopt rigid actuators, which limits their compliance and human-robot interaction performance. In this paper, a novel upper limb rehabilitation robot actuated by pneumatic artificial muscles is developed and its dynamic model is constructed for control issue. In order to achieve more accurate and adaptive rehabilitation robot control, this paper proposes a bio-inspired control architecture and cerebellum-like controller network. To demonstrate the control effect of the proposed theoretical method, a series of simulations are conducted on the robot, and the results show that the proposed controller has good tracking performance and adaptation. © 2023 IEEE.

关键词： Controllers

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Modeling and Motion Analysis for Flexible Legs of a Bio-Falling Cat robot 5

Modeling and Motion Analysis for Flexible Legs of a Bio-Fall...

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5th world robot conference symposium on advanced robotics and automation, wrc sara 2023

作者： Cao, Jian Xue, Liang Zhu, Xiaocong Wang, Shanbo Han, Shun Hefei University of Technology School of Mechanical Engineering Hefei230009 China Zhejiang University State Key Laboratory of Fluid Power & Mechatronic Systems Hangzhou310027 China

ISBN: (纸本)9798350307320

A bio-falling cat robot is designed to have possible motion abilities of flipping, walking, bounce, landing and buffering in the unstructured environment. the kinematics using standard Denavit-Hartenberg method and the dynamics using Lagrange method are analyzed for the flexible legs driven by pneumatic muscles. the mathematical model of the pneumatic muscle is established and combined with the dynamics of the flexible legs to obtain the relationship between air pressure and joint angles. then, the three-dimensional model of the robot is imported into Adams and the co-simulation technology of MATLAB and Adams is developed to analyze behavior of the virtual prototype. Moreover, the gait planning and foot trajectory planning with compound cycloid is proposed. the simulation results of the trot gait for the bio-falling cat robot verify its motion capability. © 2023 IEEE.

关键词： robots

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Research on Absolute Positioning Error Compensation of Serial 6-DOF Industrial robot 5

Research on Absolute Positioning Error Compensation of Seria...

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5th world robot conference symposium on advanced robotics and automation, wrc sara 2023

作者： Cui, Rongyue Wei, Jun Liang, Liang University of Jinan School of Electrical Engineering 250022 China Shandong Siasin Industrial Software Research Institute Co. Ltd 250101 China

ISBN: (纸本)9798350307320

To improve the absolute positioning accuracy of the robot end, a kinematic model of the tandem robot considering the D-H parameter error is established;a laser tracker is used to track and detect the motion positioning of the robot end, and the least squares method is used to solve the robot D-H parameter error;the robot motion model is corrected and compensated according to the geometric error, and it is experimentally verified that the method in this paper can identify and compensate the D-H parameter errors existing in the robot motion model. ABB IRB2400 robot as a research object, the maximum error of absolute positioning of the robot before the error compensation is 1. 6732mm, and the average error is 1. 110422mm. the absolute positioning accuracy of the robot is significantly improved. © 2023 IEEE.

关键词： Error compensation

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Design and Implementation of a New Spherical robot with an Elastic Pawl 5

Design and Implementation of a New Spherical Robot with an E...

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5th world robot conference symposium on advanced robotics and automation, wrc sara 2023

作者： Fang, Shihao Qin, Jianjun Cao, Yu Shao, Pai Beijing University of Civil Engineering and Architecture School of Mechanical Electrical and Vehicle Engineering Beijing102616 China Beijing University of Civil Engineering and Architecture Beijing Key Laboratory of Service Performance Guarantee for Urban Rail Transports Beijing102616 China

ISBN: (纸本)9798350307320

In order to improve the obstacle-surmounting performance and adaptability of the spherical robot in unstructured terrain, a new spherical robot with an elastic pawl is designed. While retaining the original structural characteristics of the spherical robot, the elastic pawl deformation mechanism and axial expansion mechanism are introduced to enable the robot to switch various motion modes. the parameters of the deformation mechanism are designed through the establishment of a mathematical model, and the kinematic analysis of the obstacle-surmounting process is carried out. ADAMS dynamic simulation software is used to simulate the robot in a variety of typical terrain environments. On this basis, the physical prototype is manufactured and assembled, and the traveling test under various terrains is carried out, verifying the robot structure's feasibility and practicability. © 2023 IEEE.

关键词： robots

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An Efficient Human Activity Recognition Framework Based on Graph Convolutional Network for Human-robot Collaboration 6

An Efficient Human Activity Recognition Framework Based on G...

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6th world robot conference (wrc) / symposium on advanced robotics and automation (sara)

作者： Liu, Wenzhe Liu, Zhaowei Su, Hang Yantai Univ Sch Comp & Control Engn Yantai 264005 Peoples R China Paris Saclay Univ Paris France

ISBN: (纸本)9798331506100

In this paper, a collaborative human-robot object processing framework based on skeleton data and graph convolutional human action recognition is proposed, and network architecture search and adaptive graph mechanisms are introduced. By recognizing the pose that the human carries the object, it is passed to the collaborative robot to make a matching object pickup action. the method is driven by the human skeleton data captured from RGB images, recognizes human actions by adaptive learning graph structure, and builds a graph convolution model and training in the collected dataset. Human-robot collaboration experiments are conducted in a laboratory environment, and the experimental results show that the method achieves high accuracy and real-time performance, and effectively accomplishes the human-robot collaboration task.

关键词： Microrobots

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Research on Trajectory Planning and Control of Hydraulic Stacking robot 5

Research on Trajectory Planning and Control of Hydraulic Sta...

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5th world robot conference symposium on advanced robotics and automation, wrc sara 2023

作者： Li, Deran Cao, Jian Zhu, Xiaocong Li, Feiteng Xue, Liang Hefei University of Technology School of Mechanical Engineering Hefei230009 China Zhejiang University State Key Laboratory of Fluid Power & Mechatronic Systems Hangzhou310027 China

ISBN: (纸本)9798350307320

To ensure the smoothness of hydraulic-robot's motion and the control accuracy of the end effector trajectory for stacking, a fuzzy PID controller has been employed with the trajectory planning in joint space. Wherein, a trajectory planning algorithm combining quintic polynomial with trapezoidal velocity method is proposed to reduce the motion time. this algorithm ensures smooth angular velocity and acceleration, preventing impacts and vibrations during the robot's operation. the transfer function of the hydraulic robot's electro-hydraulic proportional control subsystem is established. And a fuzzy PID controller is designed to track the end effector's motion trajectory. Simulation experiments demonstrate that the robot has fast motion response and small tracking errors of posture in Cartesian space. the feasibility and effectiveness of the optimization solution have been proved through comparing and analyzing the robot's motion tracking results. © 2023 IEEE.

关键词： Proportional control systems

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Integrating Sensor Fusion for Teleoperation Control of Anthropomorphic Dual-Arm robots∗ 5

Integrating Sensor Fusion for Teleoperation Control of Anthr...

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5th world robot conference symposium on advanced robotics and automation, wrc sara 2023

作者： Wang, Feilong Chen, Furong Yang, Xiaolong Yong, Qi Dong, Yanling Zhang, Xinming Zheng, Long Su, Hang Changchun University of Science and Technology College of Mechanical and Electrical Engineering Changchun130022 China Esiee Paris Noisy-le-Grand93160 France Shandong University School of Foreign Languages Jinan250100 China Jilin University Weihai Institute for Bionics Weihai264402 China Guangdong Univerisity of Technology School of Automation Guangzhou China

ISBN: (纸本)9798350307320

In order to achieve accurate control of anthropo-morphic two-arm robots, a novel teleoperation control system is proposed. the system uses sensor fusion technology to analyze and process the position and attitude information of the human arm, so as to realize the real-time control of the humanoid two-arm robot and its bionic hand. the system ensures stable and reliable remote operation, enabling users to control the robot freely. In order to verify the effectiveness of the system in different users, we invited several operators to participate in the experiment. the experimental results show that the system not only enhances the human-robot interaction experience, but also is effective for different users. © 2023 IEEE.

关键词： Remote control

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RoboFold: A platform for Protein-folding Inspired robot Swarms ∗ 5

RoboFold: A platform for Protein-folding Inspired Robot Swar...

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5th world robot conference symposium on advanced robotics and automation, wrc sara 2023

作者： Zhang, Feng Gu, Yuping Yuan, Shuai Yang, Yongliang Shenyang Jianzhu University School of Electrical and Control Engineering Liaoning Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110016 China Shenyang Jianzhu University School of Computer Science and Engineering School of Electrical and Control Engineering Liaoning Shenyang110168 China

ISBN: (纸本)9798350307320

Natural swarms have inspired various controlling algorithms for swarm robotics, while few of them were programmed in a similar way as the natural swarms. Defining a reliable programming method is still a daunting challenge in swarm robotics. In nature, the information of 3D protein structure is programmed in the sequence of amino acids of the protein. To mimic the programming method of protein folding, we present a platform for investigating protein-folding inspired programming method for robot swarms. this platform includes three parts: a vibration machine, protein-like robot sequences, and recording devices. the preliminary results presented here demonstrated the effectiveness of this platform and the feasibility of protein-folding inspired programming method for robot swarms. © 2023 IEEE.

关键词： Protein folding

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A Fuzzy Inference System on Probabilistic Roadmap for Multi-robot Path Planning 5

A Fuzzy Inference System on Probabilistic Roadmap for Multi-...

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5th world robot conference symposium on advanced robotics and automation, wrc sara 2023

作者： Replogle, Brandon Yu, Xiao-Hua California Polytechnic State University Slo Department of Electrical Engineering CA93407 United States California Polytechnic State University Slo Electrical Engineering CA93407 United States

ISBN: (纸本)9798350307320

In recent years, multi-robot systems have been widely used in many applications such as warehouse inventory tracking, homecare, natural resource monitoring, emergency search and rescue operations, etc. Probabilistic roadmap (PRM) is a typical path planning algorithm that determines an optimal trajectory once the robot start and goal configurations are specified. However, when the number of robots in the system increases, it converges very slowly and may even fail to find the solution. Fuzzy inference system resembles human reasoning and decision-making process and is very robust and efficient when dealing with complicated situations. In this research, a fuzzy inference system is proposed and combined with the probabilistic roadmap algorithm for multi-robot path planning. Computer simulation results for three different environments show that, compared with the standard PRM algorithm, this approach is very effective to reduce computational cost which is especially important for real-time applications. In the most complicated scenario studied in this paper, the proposed approach can reduce the run time by 23.92 % with a trade-off of increased average path length of 6.83 %. © 2023 IEEE.

关键词： Multipurpose robots

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