Efficiently navigating and manipulating objects in complex environments is a fundamental challenge in robotics. This paper presents a novel approach to streamline object-pushing tasks by integrating Behavior Trees (BT...
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ISBN:
(纸本)9798350377712;9798350377705
Efficiently navigating and manipulating objects in complex environments is a fundamental challenge in robotics. This paper presents a novel approach to streamline object-pushing tasks by integrating Behavior Trees (BT) to coordinate a control and planning framework. The proposed system optimizes the execution of tasks involving the pushing of objects while ensuring adaptability to varying scenarios. Our approach employs BTs to encapsulate high-level task specifications and decision-making processes, facilitating a flexible and intuitive representation of robot behavior. By seamlessly integrating BT technology with a coordinated control and planning system, we enable the robot to make real-time decisions and adapt to dynamic environments. We present experimental results demonstrating the effectiveness of our approach, highlighting its ability to improve task execution efficiency and adaptability.
This work introduces a novel decentralized algorithm and control law for stable linear convoying using a layered control approach. This algorithm was implemented in MOOS-IvP, using an abstraction layer that models a v...
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ISBN:
(纸本)9798350377712;9798350377705
This work introduces a novel decentralized algorithm and control law for stable linear convoying using a layered control approach. This algorithm was implemented in MOOS-IvP, using an abstraction layer that models a virtual system decoupled from the system's actual dynamics. This makes the algorithm platform-agnostic and able to be combined with other behaviors such as collision avoidance and operating region behaviors. A trajectory defined by a lead agent is discretized and embedded with the leader's dynamics and propagated to all following agents. We first demonstrate that this approach when paired with a simple PD controller prevents accumulated errors and improves trajectory tracking for follower agents. Thereafter we demonstrate how virtually coupling a subset of agent states improves the overall cohesiveness of the convoy. Improvements are demonstrated in both simulations and field trials using five autonomous surface vehicles.
The purpose of this study is to develop and investigate a new rough clustering based on optimization. We propose a restructured algorithm using only one variable, instead of the algorithm described using two variables...
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The impressive capabilities of Large Language Models (LLMs) have led to various efforts in enabling robots to be controlled through natural language instructions, opening exciting possibilities for human-robot interac...
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ISBN:
(纸本)9798350377712;9798350377705
The impressive capabilities of Large Language Models (LLMs) have led to various efforts in enabling robots to be controlled through natural language instructions, opening exciting possibilities for human-robot interaction. The goal is for the motor-control task to be performed accurately, efficiently and safely while also enjoying the flexibility imparted by LLMs to specify and adjust the task through natural language. In this work, we demonstrate how a careful layering of an LLM in combination with a Model Predictive control (MPC) formulation allows for accurate and flexible robotic control via natural language while taking into consideration safety constraints. In particular, we rely on the LLM to effectively frame constraints and objective functions as mathematical expressions, which are later used in the motor-control module via MPC. The transparency of the optimization formulation allows for interpretability of the task and enables adjustments through human feedback. We demonstrate the validity of our method through extensive experiments on long-horizon reasoning, contact-rich, and multi-object interaction tasks. Our evaluations show that NARRATE outperforms current existing methods on these benchmarks and effectively transfers to the real world on two different embodiments. Videos, Code and Prompts at ***
Robots performing tasks in challenging environments must be supported by control or planning algorithms that exploit sensor feedback to effectively plan the robot's actions. In this paper, we propose a reactive co...
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ISBN:
(纸本)9798350377712;9798350377705
Robots performing tasks in challenging environments must be supported by control or planning algorithms that exploit sensor feedback to effectively plan the robot's actions. In this paper, we propose a reactive control law that simultaneously utilizes proximity and tactile feedback to perform a pick-and-place task in an unknown and cluttered environment. Specifically, the presented solution leverages proximity sensing obtained from distributed Time of Flight (ToF) sensors to avoid collision when this does not interfere with the pick-and-place task. Safety is guaranteed by a higher-priority task using tactile feedback that reduces contact forces when a collision occurs. Additionally, we compare the effectiveness of this control scheme with a collision detection and reaction scheme based solely on tactile sensing. Our results demonstrate that the proposed approach reduces the collisions with the environment and the task execution time of the pick-and-place operation.
A well-designed irrigation system is essential for healthy tomato growth and to yield maximum harvests. Soil moisture and air temperature are the most important considerations that must be made while watering tomatoes...
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This paper highlights the benefits of using series elastic actuators (SEA) in designing a cost-efficient, easily controlled, and functional prosthetic hand. The designed 3D-printed hand uses only two motors in an anta...
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ISBN:
(纸本)9798350377712;9798350377705
This paper highlights the benefits of using series elastic actuators (SEA) in designing a cost-efficient, easily controlled, and functional prosthetic hand. The designed 3D-printed hand uses only two motors in an antagonistic configuration, transferring power to the fingers via pulleys, cables, and springs;i.e., the motors are in an SEA configuration with the load/fingers. In the designed underactuated prosthetic hand, the thumb is adjustable for various tasks, and the optimization of pulley diameters ensures synchronized finger movement during hand flexion and extension. Thanks to the SEA configuration of the motors and fingers, simple position control of the motor enables features like hand position control, morphological grasp, force control, impedance control, slippage detection, safe interaction, and efficient grasp. An extensive set of experiments has been conducted to evaluate the designed prosthetic hand's performance. The experiments confirm the hand's satisfactory performance while also highlighting the importance of improving the proposed design in different aspects. To attain better position control and morphological grasp, minimizing the cable-body and joint friction is recommended. A higher resolution of the current/torque sensor is needed for the precise force control and slippage detection. Finally, a motor brake system is required to achieve efficient grasping.
The Smart Service systems build perception and connection intelligence into the product itself. It focuses on intelligent products and combines big data, cloud computing, social computing, cognitive computing, the Int...
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ISBN:
(纸本)9783031613524;9783031613531
The Smart Service systems build perception and connection intelligence into the product itself. It focuses on intelligent products and combines big data, cloud computing, social computing, cognitive computing, the Internet of Things, mobile solutions, and other technologies to provide active, efficient, and user-centered services. Personalized, high-quality service process and service experience. The intelligent service system emphasizes the system structure, which has elements of system characteristics such as system resources, system subsystems, and their relationships, system operating rules, etc. The object of system process processing is service elements. As a typical smart product, autonomous vehicles drive the construction of smart systems, link service participants, and play an important role in the service process. For the design of Smart Service systems driven by autonomous vehicles, service is the content of the design, and intelligence is the means to realize the service. This paper analyzes the types of intelligent service systems and the design innovation model driven by autonomous vehicles, constructs a design element and design content model, and proposes service system architecture design, information architecture design, and product functional specification design methods.
This paper presents a concept for the incorporation of side-slip angles in a model predictive path following controller for multi-trailer vehicles in off-road environments. A common approach for trajectory tracking an...
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ISBN:
(纸本)9798350364309;9798350364293
This paper presents a concept for the incorporation of side-slip angles in a model predictive path following controller for multi-trailer vehicles in off-road environments. A common approach for trajectory tracking and path following of so-called general-n-trailer systems is the application of a model predictive controller with an internal kinematic model. In this context it is often assumed that the vehicle operates on a plane surface without slippage. However, when employing vehicles in harsh environments, these assumptions are violated, resulting in a model discrepancy and thus in an impaired tracking accuracy. Through extending the kinematic general-n-trailer system by additional disturbance inputs, a model of low complexity is provided that can still represent the side-slip behavior. Additionally, a method for predicting future side-slip based on the extrapolation of current estimates is proposed. As heavy-duty vehicles are often utilized in repetitive processes, it is further examined how knowledge about the sliding behavior can be acquired over successive runs.
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