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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"

共 62 条记录，以下是21-30 订阅

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Instability Detection during Physical Human robot Interaction Based on Wavelet Decomposition 5

Instability Detection during Physical Human Robot Interactio...

引用

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

作者： Lu, Chunheng Chen, Chenghao Song, Zhihong Wang, Junchen Beihang University School of Mechanical Engineering and Automation Beijing100191 China Capital Medical University National Center for Children's Health Beijing Children's Hospital Department of Thoracic Surgery Beijing100045 China Beihang University Research Institute of Aero-Engine Beijing100191 China

ISBN: (纸本)9798350307320

Physical human robot interaction is an important research topic in robotics. Admittance control has been widely used for collaborative tasks because of its compatibility with low-cost robots. However, stability issue arises especially when the interacting environment (including humans) becomes stiff. A common way to guarantee stability is changing control parameters, especially the damping parameters, but it will cause heavy react during interaction. therefore an effective way to detect the instability and change parameters only when oscillation occurs is necessary. In this paper, we analyzed the frequency of normal operation and oscillation during interaction process, and proposed a real time instability detection method based on wavelet decomposition. Experiments on human interaction with an admittance-controlled robot were performed and the effectiveness of the proposed instability detection method was confirmed. © 2023 IEEE.

关键词： Wavelet decomposition

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Stiffness performance optimization method of drilling robot based on QPSO algorithm 6

Stiffness performance optimization method of drilling robot ...

引用

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

作者： Zhang, Yufan Tao, Yong Wei, Hongxing Liu, Haitao Wan, Jiahao Guo, Ruijun Beihang Univ Sch Large Aircraft Engn Beijing 100191 Peoples R China Beihang Univ Res Inst Aeroengine Beijing 102206 Peoples R China Beihang Univ Sch Mech Engn & Automat Beijing 100191 Peoples R China Beijing CHL Robot Co Ltd Beijing 100097 Peoples R China

ISBN: (纸本)9798331506100

Due to its high flexibility and intelligence, industrial robots are being increasingly used in aeronautical processing tasks. However, the inherently low stiffness of robots seriously affects the processing quality of their operations. Studying its stiffness characteristics and optimization methods is an effective method to improve the stiffness performance of robot. this paper proposes a robot posture optimization method based on quantum particle swarm algorithm to solve the problem of vibration during drilling. Firstly, the kinematic model and static stiffness model of the robot are established, and then a stiffness index oriented to the machining plane is proposed. Next, a new performance evaluation index is obtained by normalization fusion with manipulability to quantitatively evaluate the stiffness performance of the robot. After this, the drilling posture is optimized by quantum particle swarm optimization algorithm under the boundary constraints and property constraints of the robot. Finally, drilling experiments were carried out on AUBO i5 robot to verify the accuracy of the performance evaluation coefficient and optimization method. Compared with non-optimization and particle swarm optimization, the robot performance was improved by 32.28% and 8.57% on average, indicating that this method can effectively improve the robot stiffness performance.

关键词： Particle swarm optimization (PSO)

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Gesture Control Method for Oral Blood Mixed Liquid Removal robot∗ 5

Gesture Control Method for Oral Blood Mixed Liquid Removal R...

引用

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

作者： Ma, Xudong Kuang, Ziao Li, Han Chen, Anqi Li, Changsheng Liu, Wenyong Wang, Junchen Hu, Yida David Gao, Li Su, Bai-Quan Beijing University of Posts and Tele-communications Medical Robotics Laboratory School of Automation Beijing100876 China Beijing University of Posts and Tele-communications School of Computer Beijing100876 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States Peking University School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Stomatological Center Department of Periodontology Beijing China

ISBN: (纸本)9798350307320

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. the gesture control procedures for four typical operations are provided in detail. In a group of experiments, it's demonstrated that an oral surgeon controls the robot's motion by presenting prescribed hand gesture. the proposed method could be an alternative manner for blood mixed liquid removal. © 2023 IEEE.

关键词： Blood

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Toward Safe Human-robot Interaction: More Efficient Safety Monitoring Technology For robotic Arms 5

Toward Safe Human-Robot Interaction: More Efficient Safety M...

引用

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

作者： Gong, Zihang Liu, Zhaowei Su, Hang Yantai University School of Computer and Control Engineering Yantai264005 China Guandong Univerisity of Technology School of Automation Guangzhou China

ISBN: (纸本)9798350307320

Presently, advanced humanoid robotic arms have the ability to work independently, and although most current research can make the robotic arm react appropriately and autonomously to the changing environment, it cannot completely prevent the robotic arm from reacting incorrectly due to a variety of uncontrollable factors;therefore, it is necessary to detect the overall posture of the operating robotic arm. In this paper, we propose a more effective vision fusion-based robot safety monitoring method that can detect the robot arm's posture change in real time, thereby significantly enhancing the safety of the robot arm at work. the visual fusion method utilized in this paper enables faster and more stable skeleton visualization tracking of the robot arm's motion, and at the same time, more accurate skeleton information extraction of the robot arm in three-dimensional space, which increases the accuracy of detecting the bending angle of each joint under each posture of the robot arm. the research experiment demonstrates that the method proposed in this paper has a positive effect on monitoring the robotic arm in real time. © 2023 IEEE.

关键词： robotic arms

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A 2-DOFs Planar Grinding End-Effector for robotic Laminectomy 5

A 2-DOFs Planar Grinding End-Effector for Robotic Laminectom...

引用

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

作者： Duan, Wei Ji, Xuquan Hu, Lei Liu, Wenyong Beihang University Key Laboratory of Biomechanics and Mechanobiology of the Ministry of Education Beijing Advanced Innovation Center for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China

ISBN: (纸本)9798350307320

robotic end effector accurately operated in small and confined surgical area in laminectomy can improve the efficiency of robotic surgery. this paper proposed a two-DOFs planar grinding end-effector for robotic laminectomy, which can move along any curve within the planar operation area. the end-effector adopts an arc RCM mechanism, which kinematic analysis gives a working space of an annular sector with a minimum radius of 137 mm, a maximum radius of 162.3 mm, a central angle of 1.65 rad. the structure rationality of the end-effector is verified through static analysis. the prototype was developed and controlled based on TwinCAT-PC architecture. Experiments of positioning accuracy give a repeated positioning accuracy of 0.1 mm. Experiments of ex vivo bone grinding gives an operation accuracy of 1.5 mm in a simulated clinical environment. the proposed prototype can be used for robotic laminectomy in combination with the navigation robotic arm. © 2023 IEEE.

关键词： Grinding (machining)

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Sorting Space Configuration Comparison for the Multi-Agent robotic Sorting System∗ 5

Sorting Space Configuration Comparison for the Multi-Agent R...

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

作者： Starostenko, Aleksey Kozin, Filipp Gorbachev, Roman Khvostikova, Olga Gerasimov, Sergei Zakharova, Ekaterina Zaripov, Mikhail Davydenko, Egor Gonnochenko, Aleksei Moscow Institute of Physics and Technology Moscow Russia Sber Robotics Lab Moscow Russia

ISBN: (纸本)9798350307320

Multi-agent robotic sorting systems configuration comparison is proposed in this paper. Sorting system provide item sorting task for managed fleet of robotic agents and it's path planning on sorting space graph in real time. State-of-art multi-agent path finding algorithm generate deadlock-free scheduling to perform sorting tasks. throughput comparison research for the different configurations of sorting space is conducted. In this paper we study the throughput of three sorting space configurations with sorting center model. robotics agent model, sorting space model and sorting system models provide the environment for the fleet management system. Each agent receives an action sequence from scheduling system, which takes into account the movement, the tasks of all robotic agents and the states of the sorting system environment for specific sorting center configuration. the throughput of the sorting center is estimated. Configurations represent different approaches to sorting center space organization. © 2023 IEEE.

关键词： Multi agent systems

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Equilibrium theory based Power Sharing Allocation Algorithm for Wireless Capsule Endoscopy Relays 5

Equilibrium Theory based Power Sharing Allocation Algorithm ...

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

作者： Li, Ye Zhao, Jiawei Wei, Junyi Feng, Lin Beihang University China Information Consulting & Designing Institute School of Mechanical Engineering & Automation Department of Innovation Business Beijing China Beihang University School of Mechanical Engineering & Automation Beijing China China Information Consulting & Designing Institute Department of Innovation Business Beijing China Beihang University Beijing Advanced Innovation Center for Biomedical Engineering School of Mechanical Engineering & Automation Beijing100083 China

ISBN: (纸本)9798350307320

Wireless capsule endoscopy (WCE) is an effective tool for gastrointestinal diseases diagnosis. Compare to the traditional endoscopy, more and more patients and medical institutions prefer WCE due to its user-friendly and non-cross infection. However, the size limitation of WCE would lead to a problem of insufficient energy. this paper will propose an relay-based power allocation algorithm for WCE transmission system based on market equilibrium scheme. Considering power resources of a WCE as assigned resources and the WCE transmission networks revenue is defined by a logarithm utility function. Either relay and direct transmission links aim to maximize its own profit by power resources sharing. In order to solve the multi-objective optimization problem, the optimization problem can be divided into two single-objective problems: firstly, maximizing the profit of the direct link;secondly, maximizing the profit of the relay-based links. the multi-objective optimisation problem can be solved by calculating the equilibrium point of the power utility function. the convergence of the algorithm can be verified by numerical results. © 2023 IEEE.

关键词： Profitability

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Design of an Impact-resistant Elbow Mechanism for Wheel-legged robot Crawling 5

Design of an Impact-resistant Elbow Mechanism for Wheel-legg...

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

作者： Ma, Xiaoshuai Gao, Junyao Qiu, Xuejian Zhao, Lingxuan Chen, Xuechao Yu, Zhangguo Huang, Qiang Beijing Institute of Technology School of Mechatronic Engineering Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing100081 China

ISBN: (纸本)9798350307320

Wheel-legged robots utilize their arms for efficient crawling in low and narrow passages. However, during the transition from standing to crawling motion mode, wheeled-legged robots, which are underactuated systems, are susceptible to falling and potential damage. Additionally, the elbow joint requires a high torque during robot crawling. therefore, we designed an elbow mechanism driven by a linear actuator for BIT- W robot. the torque requirement of the elbow joint is analyzed by constructing a crawling model of the robot. Subsequently, a novel optimization method is proposed to enhance impact resistance by optimizing the mechanical parameters. Finally, the experiments conducted validate the elbow mechanism's capability to provide stable support for crawling and motion mode switching. Moreover, the impact mitigation factor (IMF) results substantiate the mechanism's effective enhancement of the arm's impact-resistant ability. © 2023 IEEE.

关键词： Linear actuators

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Deep Vision Guided Mobile robot Dual Axis PID Dynamic Real Time Adjustment Following 5

Deep Vision Guided Mobile Robot Dual Axis PID Dynamic Real T...

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

作者： Li, Yang Yang, Guanci He, Ling Zhao, Le Zhao, Tianyi Sun, Haoran Guizhou University Key Laboratory of Advanced Manufacturing Technology of the Ministry of Education Guizhou Guiyang550025 China Guizhou University Key Laboratory of Advanced Manufacturing Technology of the Ministry of Education State Key Laboratory of Public Big Data Guizhou Provincial Key Laboratory of Internet+' Collaborative Intelligent Manufacturing Guizhou Guiyang550025 China

ISBN: (纸本)9798350307320

the real-time tracking of moving objects by social robots is crucial for ensuring object-oriented services. this paper presents a real-time following algorithm for mobile robots based on deep vision object detection. Firstly, using a binocular depth vision camera, real-time target information from a firstperson perspective is collected, and a lightweight deep learning model is employed to detect the relative position of the human body posture with respect to the social robot. Subsequently, to address the issue of unsmooth trajectory during the tracking process, a dual-axis PID algorithm is developed for cooperative control of the robot's speed and heading angle. Given the inherent randomness in human body movement, target loss can occur during tracking. To enhance the algorithm's robustness, a dynamic tracking mechanism is introduced. Finally, we implement a vision-driven two-wheel differential social robot following algorithm on the ROS system and validate it through three real-world experimental scenarios. the mean values of the target acquisition rate, tracked target position, and angle smoothness are found to be 0.81, 0.46, and 1.02, respectively. © 2023 IEEE.

关键词： Mobile robots

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robot Navigation Based on 3D Scene Graphs with the LLM Tooling 6

Robot Navigation Based on 3D Scene Graphs with the LLM Tooli...

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

作者： Cheng, Yao Jiang, Fengyang Han, Zhe Wang, Huaizhen Zhou, Fengyu Li, Zhaochuan Wang, Bin Huang, Yang Shandong New Generat Informat Ind Technol Res Ins Jinan 250100 Shandong Peoples R China Shandong Univ Sch Control Sci & Engn Jinan 250061 Shandong Peoples R China Inspur Software Technol Co Ltd Jinan 250100 Shandong Peoples R China

ISBN: (纸本)9798331506100

this contribution addresses the integration of 3D Scene Graphs (3DSGs) and Large Language Models (LLMs) to advance robotic navigation. We explore how to best prepare 3DSGs for navigation and examine how key features of 3DSGs affect the way LLMs interpret the information encoded in the 3DSGs and create instructions from it. To improve the reliability and accuracy of the generated instructions for navigation, we introduce prompting methods and scoring mechanisms that reduce uncertainty in LLM responses and ensure the validity of the task planning results. In addition, we focus on difficult navigation task queries involving negation and numbers, analyzing how this approach combining 3DSGs with LLMs behaves and devising strategies that lead to an enhanced performance. these findings and results accomplish our goal of contributing to the development of more robust and intelligent robotic navigation systems that effectively leverage the power of 3DSGs and LLMs.

关键词： Microrobots

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