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检索条件"任意字段=Conference on Next-Generation Robots and Systems"

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Training Directional Locomotion for Quadrupedal Low-Cost Robotic systems via Deep Reinforcement Learning

Training Directional Locomotion for Quadrupedal Low-Cost Rob...

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2022 Australasian conference on Robotics and Automation, ACRA 2022

作者： Bohm, Peter Chapman, Archie C. Pounds, Pauline University of Queensland Brisbane Australia

ISBN: (纸本)9781713866480

In this work we present Deep Reinforcement Learning (DRL) training of directional locomotion for low-cost quadrupedal robots in the real world. In particular, we exploit randomization of heading that the robot must follow to foster exploration of action-state transitions most useful for learning both forward locomotion as well as course adjustments. Changing the heading in episode resets to current yaw plus a random value drawn from a normal distribution yields policies able to follow complex trajectories involving frequent turns in both directions as well as long straight-line stretches. By repeatedly changing the heading, this method keeps the robot moving within the training platform and thus reduces human involvement and need for manual resets during the training. Real world experiments on a custom-built, low-cost quadruped demonstrate the efficacy of our method with the robot successfully navigating all validation tests. When trained with other approaches, the robot only succeeds in forward locomotion test and fails when turning is required. © 2022 Australasian Robotics and Automation Association. All rights reserved.

关键词： robots

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A Soft Stretch-flexible Pressure Sensor for Tactile Sensing on Nonplanar Surfaces

A Soft Stretch-flexible Pressure Sensor for Tactile Sensing ...

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2022 IEEE International conference on Real-Time Computing and Robotics, RCAR 2022

作者： Guo, Yue Yu, Zhiqiang Wang, Huaping Fukuda, Toshio Shi, Qing School of Medical Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Sch. of Mechatronical Eng. and Key Lab. of Biomimetic Robots and Systems Ministry of Education Beijing100081 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Pressure sensors are indispensable in wearable equipment, human-machine interfaces, and robotics. However, facile and rapid fabrication of stretch-flexible pressure sensors with good performance is still needed. In this paper, a fast-response pressure sensor used for tactile sensing on a nonplanar surface was prototyped in an effortless manner on the basis of laser-induced graphene (LIG) and a sugar-Template porous Ecoflex dielectric layer. The intrinsic correlation among the structure size, material properties, sensor sensitivity and response time is revealed. The results show that the pressure sensor achieves a sensitivity of 0.04 kPa-1 with an accuracy of 3.1% within 35 kPa when the dielectric thickness is 1 mm and the LIG electrode scribing power and speed were set as 2.1 W and 70 mm/s, respectively. The limit of detection is 5.3 g, corresponding to a pressure level of 132 Pa. The response and recovery time of the pressure sensor were also characterized as 70 and 80 ms, respectively. In addition, a 3 3 stretch-flexible sensor array is fabricated and attached to a nonplanar surface for single and multitouch tactile sensing. The highly integrated pressure sensor is cost-effective, highly scalable, and fast response, which offers a significant opportunity for the next generation of tactile sensors on nonplanar surfaces for robots. © 2022 IEEE.

关键词： Pressure sensors

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Stable Wheel Gait generation for Planar X-shaped Walker with Telescopic Legs Based on Asymmetric Impact Posture

Stable Wheel Gait Generation for Planar X-shaped Walker with...

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IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Fumihiko Asano Mikito Komori Taiki Sedoguchi Yanqiu Zheng Graduate School of Advanced Science and Technology Japan Advanced Institute of Science and Technology Nomi Ishikawa Japan Department of Mechanical Engineering Ritsumeikan University Kusatsu Shiga Japan

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper introduces a novel X-shaped walker with telescopic legs and investigates its control method with the aim of generating a stable wheel gait on a horizontal plane without including zero dynamics which is essentially unstable and difficult to stabilize. First, we outline a planar 6-DOF robot model with three control inputs, and describe the equations of motion and inelastic collision. Second, we design an output-following control system that smoothly controls the extension/contraction lengths of the legs and relative hip-joint angle to their target terminal values, and creates an asymmetric impact posture in the anteroposterior direction so that the robot can easily overcome the next potential barrier. The coefficients of the desired-time trajectory for each control output are updated with the position and velocity values immediately after each impact as the target initial values, so the generated leg motion and control inputs exhibit smooth time variation. The validity of the proposed gait generation method and the change trend of fundamental motion characteristics with respect to control parameters are investigated through numerical simulations.

关键词： Legged locomotion Dynamics Wheels Control systems Numerical simulation Market research Mathematical models Trajectory Collision avoidance Intelligent robots

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Precision Seeding robots Revolutionizing Planting Accuracy and Crop Density Control in Row Crops

Precision Seeding Robots Revolutionizing Planting Accuracy a...

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next generation Communication & Information Processing (INCIP), International conference on

作者： K.P. Senthilkumar K.P. Rama Prabha Aruna Kolukulapalli S. Prem Knowles Vinay Kumar R. Lavanya Department of ECE Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Saveetha University Chennai India School of Computer Science and Engineering Vellore Institute of Technology Chennai Tamil Nadu India Department of Computer Science and Engineering K.L. University Guntur Andhra Pradesh Department of Management Studies Brainware University Kolkata India Department of Artificial Intelligence and Machine Learning B.N.M. Institute of Technology Bengaluru India Department of Computer Science Dr SNS Rajalakshmi College of Arts and Science Coimbatore Tamil Nadu India

ISBN: (数字)9798331528140

ISBN: (纸本)9798331528157

The methods of planting plants face challenges such as uneven distribution of seeds and control over plant density, resulting in low utilization of land and low profitability. These methods have its shortcomings, which a precision seeding robot aims to solve using innovative techniques such as GPS-guided navigation, computer vision, and artificial intelligence analysis to guarantee that seeds are precisely placed based on what each plant needs. Real-time soil assessments optimize optimal planting depth as well as seed spacing, while convolutional neural networks (CNN) enhance weed detection as well as expulsion. The results show significant improvements in seed placement depth by 28.57%, spacing by 33.33% and maize yield by 30.77%. Moreover, resource spending was reduced with 25% less water and fertilizer was used. These findings indicate the potential of the robot to reduce inefficiency, improve sustainability, and maximize yield over traditional planting systems.

关键词： Precision agriculture Training Transforms Real-time systems Seeds (agriculture) Convolutional neural networks robots Water resources Tuning Farming

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Mechatronics Journey and Project Management of Arthropod robots Design and Development

Mechatronics Journey and Project Management of Arthropod Rob...

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Smart Technologies, Communication and Robotics (STCR)

作者： Jose Cornejo Universidad Tecnologica del Peru Lima Peru

ISBN: (数字)9798350357530

ISBN: (纸本)9798350357547

Bioinspired design (BID) is revolutionizing mechatronics by integrating biological principles to enhance adaptability and efficiency. This study introduces a structured methodology—retrieval, mapping, and abstraction—to systematically translate biological phenomena into engineering innovations. Retrieval explores biodiversity to identify functional analogies, leveraging comparative methodologies for insight. Mapping converts biological mechanisms into technological applications, overcoming complexity through analytical models. Abstraction extracts core principles from biological insights, reformulating them into versatile engineering strategies. A bibliometric analysis of arthropod-inspired robotics demonstrates BID’s impact on mechatronic systems. Reviewing studies from over 30,000 publications, this research categorizes robotic constructs by operational environments—terrestrial, aquatic, aerial, and multimodal— emphasizing modular architectures and multi-axis articulation for enhanced adaptability. Insect-inspired designs dominate (53.8%), with significant contributions from institutions in the United States, China, Singapore, and Japan. Innovations such as origami-based deployable structures and direct-drive actuation affirm BID’s potential in applications ranging from planetary exploration to autonomous navigation. This study establishes BID as a foundation for next-generation mechatronics, driving advancements in robotic dexterity, efficiency, and resilience.

关键词： Technological innovation Mechatronics Space technology Project management Distance measurement Complexity theory Flexible structures robots next generation networking Resilience

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Accessible Soft Robotics Education with Re-Configurable Balloon robots

Accessible Soft Robotics Education with Re-Configurable Ball...

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IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Yi-Shiun Wu Kieran Gilday Josie Hughes CREATE-Lab EPFL Switzerland

Soft robotics requires effective tools to educate the next generation of engineers and researchers. Stemming from a lack of universally accepted principles for education and with high barriers to entry in terms of fabrication and hardware, education to date has been highly ad hoc. We present a low-cost toolkit based on re-configurable balloon which allows rapid development of soft yet functional robots. This provides practical demonstrations of key soft robotic principles including: morphology, stiffness control, controller dependencies and modulation of environmental interactions, while grounding robot behaviours in fundamental mechani-cal models. We provide a framework for assembling balloon structures, incorporating actuation and exploring interactions. A diverse set of robots have been developed to show the potential to use this balloon-bots for educational activities for undergraduate teaching or below. In particular, different modes of locomotion are shown using robots each of which has an assembly time under 5 minutes. These robots can teach skills ranging from component integration and implementation, to key soft robotic design principles and embodied intelligence.

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Ambient Intelligence Ecosystem for Elderly Pattern Detection and Care Using Social robots 17

Ambient Intelligence Ecosystem for Elderly Pattern Detection...

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IEEE Congress on Cybermatics: 17th IEEE International conference on Internet of Things, iThings 2024, 20th IEEE International conference on Green Computing and Communications, GreenCom 2024, 17th IEEE International conference on Cyber, Physical and Social Computing, CPSCom 2024, 10th IEEE International conference on Smart Data, SmartData 2024

作者： Gómez-Ramos, Raúl Duque-Domingo, Jaime Zalama, Eduardo Gómez-García-Bermejo, Jaime ITAP-DISA University of Valladolid Cartif Technological Center Valladolid Spain University of Valladolid ITAP-DISA Valladolid Spain

ISBN: (纸本)9798350351637

This article presents an ambient intelligence system to provide support and security to residents living alone, particularly in supervised domiciles. It confronts the challenges arising from the burgeoning elderly population in Europe, many of whom opt for independent living. The system combines non-intrusive sensors, a social robot, and algorithms geared towards activity monitoring and anomaly detection. Central to its functionality is the monitoring of activities, employing a hierarchical Hidden Markov Model (HMM)-based Human Activity Recognition (HAR) system. This system adeptly discerns the Activities of Daily Living (ADLs) performed by users, enabling swift interventions or alerts in instances of emergencies. Furthermore, anomalies such as prolonged periods of inactivity or nocturnal wanderings are promptly identified, triggering requisite responses to ensure user safety and well-being. A key component is the cognitive system, which establishes rules for actions predicated on data gleaned from the HAR module and anomaly detection. This enables interactions with the social robot and interventions within the environment. Validation and performance evaluation in real-world scenarios underscore the system's efficacy, with high precision, recall, and F1Score metrics reported for the HAR module. © 2024 IEEE.

关键词： Ambient intelligence

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Enumerating Deformed Configurations of Reconfigurable Meshed Cellular robots

Enumerating Deformed Configurations of Reconfigurable Meshed...

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ASME/IFToMM International conference on Reconfigurable Mechanisms and robots, ReMAR

作者： Sabyasachi Dash Girish Krishnan Department of Industrial and Enter-prise Systems Engineering University of Illinois Urbana-Champaign

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

Reconfigurable meshed cellular robots could be the future of next-generation adaptive structures and robots as they can undergo large shape changes while simultaneously bearing loads. This paper considers an embodiment of meshed cellular robots as a network combination of several Soft Two-State building blocks that can either be stiff or actuate like a muscle. Given a target deformed shape, it is required to determine the morphological state of each building block in the network (a stiff bone or a contractile muscle) that maximally meets the shape. The paper presents techniques to reduce the design space of possibilities by specifically isolating a bio-inspired two-muscle one-bone pattern for each triangular mesh. Enumeration of all designs that meet this pattern is shown to maximally capture all large deformation shapes. This significantly simplifies computations required for design evaluations and control with several design alternatives pre-sented to the designer. An example of an aquatic fin is used to illustrate the methodology where all prominent deformation modes of the fin can be captured through the pattern-based enumeration scheme. Future work can expand this methodology by considering more patterns and embedding the enumeration scheme within a generative topology design framework.

关键词： Shape Deformation Muscles Aerospace electronics Bones Topology Research initiatives

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Teaching Industrial Robot Programming using FANUC ROBOGUIDE and iRVision Software 16

Teaching Industrial Robot Programming using FANUC ROBOGUIDE ...

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16th International Multi-conference on Society, Cybernetics and Informatics, IMSCI 2022

作者： Coletta, Jarrod A. Chauhan, Vedang Department of Mechanical Engineering Western New England University SpringfieldMA01119 United States

ISBN: (纸本)9781950492671

Industrial automation has become increasingly more prominent in many industries, such as manufacturing, automotive, pharmaceuticals, and food processing industries, as the technology evolves and Industry 4.0 revolution advances. Th demand of automation and personnel with automation skills has ever been increasing since Covid-19 Pandemic. Industrial robots and machine vision inspection are essential systems for manufacturing automation. Industrial robots are capable of performing various tasks like part handling, machine tending, assembly, palletizing, arc welding, or laser cutting with high speeds, repeatability and accuracy. Machine Vision Inspection (MVI) systems are used for part quality inspection, manufacturing and assembly supervision and robot guidance. A MVI system integrated with an industrial robot provides a hand-eye coordination to the robot for flexible material handling and operations. Vision-guided robotics serves as the next-generation research instrument that opens new opportunities to advance the boundaries in science and engineering research. This paper focuses on teaching industrial robot programming to engineering students using an offline virtual robotic simulation software, Fanuc ROBOGUIDE and iRVision software. Using a virtual robot and offline programming with ROBOGUIDE reduces a risk by enabling visualization of the robot operations before an actual installation and operations. The ROBOGUIDE software will provide students with an experience of programming an industrial robot and will enhance the effectiveness of the teaching and learning process. The developed programs can be imported and implemented onto a real robot with a minimum configuration setup. The step by step approach of developing and programming a 2D vision guided material handling cell using ROBOGUIDE has been discussed in the paper such that other educators and students can learn and implement the project with ease. Copyright 2022. © by the International Institute of Informat

关键词： Industrial robots

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Development of a Reconfigurable Holonomic Mobile Manipulation Cobot for Smart Factory 5.0

Development of a Reconfigurable Holonomic Mobile Manipulatio...

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Robotics, Automation and Artificial Intelligence (RAAI), IEEE International conference on

作者： Thanatchai Wongjirad Orapadee Joochim Institute of Field Robotics King Mongkut's University of Technology Thonburi Bangkok Thailand

ISBN: (数字)9798331520038

ISBN: (纸本)9798331520045

This paper presents the design, experimentation, and evaluation of a reconfigurable holonomic mobile cobot equipped with a Mecanum wheel base and a coupling locking mechanism to support versatile manipulation tasks in smart factory 5.0 environments. The system, designed for omnidirectional movement and dynamic adaptability, aims to enhance flexibility and precision in human-robot collaborative manufacturing. Through a series of experiments, we assessed the accuracy of the mobile base in loaded and unloaded conditions and evaluated the alignment and coupling success of the cobot with a detachable manipulator arm module. Results indicate that the Mecanum wheel base achieves an impressive 80% alignment success rate using ArUco marker tracking, demonstrating reliable mobility and tracking in dynamic environments. However, the coupling locking mechanism achieved only a 20% success rate, revealing limitations in the locking system's tolerance to minor misalignments. These findings highlight the cobot's strengths in adaptive navigation and tracking accuracy while underscoring the need for further development of the coupling mechanism for consistent operation. For future work, we will focuses on refining the coupling system, enhancing alignment feedback through additional visual markers, and optimizing control algorithms for load-bearing accuracy. This study provides a foundational step toward implementing reliable, reconfigurable robotic systems that meet the complex demands of next-generation manufacturing environments.

关键词： Couplings Visualization Accuracy Refining Wheels Collaborative robots Reliability engineering Mobile robots next generation networking Smart manufacturing

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