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检索条件"任意字段=International Conference on Robotics and Automation for Humanitarian Applications"

共 5702 条记录，以下是41-50 订阅

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A Novel Soft Robotic Manipulator Design with Zig-zag Chamber Geometry 10

A Novel Soft Robotic Manipulator Design with Zig-zag Chamber...

引用

10th international conference on automation, robotics, and applications, ICARA 2024

作者： Treratanakulchai, Shen Garriga-Casanovas, Arnau Borvorntanajanya, Korn Franco, Enrico Baena, Ferdinando Rodriguezy Mahidol University Biomedical Engineering Department Nakhon Pathom Thailand Imperial College Mechanical Engineering Department London United Kingdom

ISBN: (纸本)9798350394245

The development of soft robots has advanced rapidly in recent years. However, most designs present significant non-linearities and deviate from the desired bending direction in an unpredictable manner. This makes accurate control more difficult. In this paper, we present a novel design of a soft robotic manipulator with zig-zag partition walls, which minimize those deviations. We first outline the design and describe a lost wax manufacturing process for complex geometries. We then report experiments to evaluate the bending characteristics, force, and repeatability of the prototype, and we compare it against an existing design. The results show a significant improvement in bending consistency with minimal deviations. © 2024 IEEE.

关键词： robotics

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Behavior Trees in Industrial applications: A Case Study in Underground Explosive Charging 20

Behavior Trees in Industrial Applications: A Case Study in U...

引用

IEEE 20th international conference on automation Science and Engineering (CASE)

作者： Hallen, Mattias Iovino, Matteo Sander-Tavallaey, Shiva Smith, Christian ABB Mining R&D Umea Sweden ABB Corp Res Vasteras Sweden KTH Royal Inst Technol Div Robot Percept & Learning Stockholm Sweden

ISBN: (纸本)9798350358513;9798350358520

In industrial applications Finite State Machines (FSMs) are often used to implement decision making policies for autonomous systems. In recent years, the use of Behavior Trees (BT) as an alternative policy representation has gained considerable attention. The benefits of using BTs over FSMs are modularity and reusability, enabling a system that is easy to extend and modify. However, there exists few published studies on successful implementations of BTs for industrial applications. This paper contributes with the lessons learned from implementing BTs in a complex industrial use case, where a robotic system assembles explosive charges and places them in holes on the rock face. The main result of the paper is that even if it is possible to model the entire system as a BT, combining BTs with FSMs can increase the readability and maintainability of the system. The benefit of such combination is remarked especially in the use case studied in this paper, where the full system cannot run autonomously but human supervision and feedback are needed.

关键词： Behavior Trees Behavior Trees in robotics applications Finite State Machines Modularity

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Design and Development of an Anthropomorphic Gripper for Service robotics and Prosthetic applications 11

Design and Development of an Anthropomorphic Gripper for Ser...

引用

11th international conference on Control, Mechatronics and automation (ICCMA)

作者： Kumar, Ravi Dale, Jorgen Singh, Jayant Zhou, Jing Univ Agder Dept Eng Sci Grimstad Norway

ISBN: (纸本)9798350315684

This paper presents the design, development and evaluation of a low-cost anthropomorphic gripper for advanced robotic applications. The following sections describe the creation of a fully functional robotic gripper through 3D printing and assembly, as well as performance testing of the device. The system developed demonstrates the capability for pick and place operations with diverse objects. The results of this research and development indicate the potential for improved dexterity and adaptability in robotic manipulation tasks without costly hardware, paving the way for further advancements in human-robot interaction and automation.

关键词： robotics product design mechatronics development and prototyping

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Enhanced Lightweight Virtual Commissioning Technique for Human-Machine Collaboration Utilizing Meta-Digital Twin and AML Modeling 9

Enhanced Lightweight Virtual Commissioning Technique for Hum...

引用

9th international conference on automation, Control and robotics Engineering (CACRE)

作者： Ding, Kai Fan, Liuqun He, Chenxiao Long, Feng Tongji Univ Sch Mech Engn Shanghai Peoples R China Lishui Vocat & Tech Coll Intelligent Mfg Lishui Peoples R China

ISBN: (纸本)9798350350319;9798350350302

In the context of highly customized industrial applications, human-machine collaboration systems merge the efficiency and precision of collaborative robots with the adaptability and complex decision-making capabilities of humans. This integration adeptly addresses intricate manufacturing tasks that demand high sensitivity and adaptability. However, the virtual Commissioning of human-machine collaborative design schemes prior to the establishment of such systems presents challenges. These include integrating diverse heterogeneous components, the absence of a unified standard for modeling, and the need for dynamic adjustments to design schemes to enhance Commissioning efficiency across multiple engineers. Moreover, in manufacturing environments where cost and efficiency are critical, there is a demand for lightweight collaborative Commissioning tools that can swiftly resolve issues. To address these challenges, this paper leverages AML standardized modeling capabilities to develop a human-machine collaborative digital twin construction methodology. This methodology is based on meta models, meta-actions, and configurable meta processes. Furthermore, it introduces a granular progressive loading algorithm designed for a cloud-edge operational mode, which, when coupled with multi-view classification techniques, fulfills the requirements of lightweight collaboration in platforms such as web browsers/IPAD/Augmented Reality. The approach is ultimately validated through a case study focusing on battery pack wiring harness assembly units within the new energy battery sector.

关键词： Human machine collaboration Virtual commissioning Lightweight digital twin automation ML

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The Rise of Intelligence: A Comprehensive Review on AI and AI automation 3

The Rise of Intelligence: A Comprehensive Review on AI and A...

引用

3rd international conference on Communication, Control, and Intelligent Systems, CCIS 2024

作者： Bhardwaj, Cheshtaa Gla University Department of Computer Engineering and Applications Mathura India

ISBN: (纸本)9798331528201

This paper presents a comprehensive review of Artificial Intelligence (AI), Machine Learning (ML), and Deep Learning (DL) technologies, focusing on their impact in driving AI automation across diverse sectors with a special emphasis on robotics. As AI continues to evolve, its integration into automation systems has revolutionized industries, enhancing efficiency, precision, and decision-making. The role of AI automation in robotics is critically examined, covering key architectural frameworks that enable autonomous operation and intelligent decision-making. Furthermore, the security aspects associated with AI in robotics, identifying attack surfaces and potential vulnerabilities has been analysed. This review highlights the transformative potential of AI automation while addressing the challenges and security concerns that accompany its deployment in modern systems, particularly in robotics. © 2024 IEEE.

关键词： Adversarial machine learning

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Literature Review on Advanced Cloud robotics for Enhanced Industrial automation 3

Literature Review on Advanced Cloud Robotics for Enhanced In...

引用

3rd international conference on Electronics and Renewable Systems, ICEARS 2025

作者： Manonmani, A. Akash, S. Aswinraj, A. Manikandan, A. Saveetha Engineering College Department of Electronics and Instrumentation Engineering Chennai India

ISBN: (纸本)9798331509675

Cloud robotics is transforming industrial automation by combining cloud computing with robotic systems. This paper reviews recent advancements in cloud robotics and their industrial applications, highlighting the synergy between cloud infrastructure and robotic platforms. Key technologies like artificial intelligence, machine learning, and the Internet of Things are explored for their roles in enhancing scalability, computational efficiency, and real-time data processing. The paper also addresses challenges such as latency and data security, proposing solutions to overcome them. The findings suggest that cloud robotics can significantly improve productivity, cost-efficiency, and flexibility in manufacturing and other sectors, with future research directions aimed at promoting its broader adoption. © 2025 IEEE.

关键词： Cloud platforms

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Novel First Person View for Human 3D Pose Estimation in Robotic applications Using Fisheye Cameras 10

Novel First Person View for Human 3D Pose Estimation in Robo...

引用

10th international conference on automation, robotics, and applications, ICARA 2024

作者： Deshpande, Kapil Heindl, Christoph Stubl, Gernot Kollingbaum, Martin J. Pichler, Andreas Robotics and Automation Systems PROFACTOR GmbH Steyr Austria

ISBN: (纸本)9798350394245

A novel 3D pose estimation system is presented, using a single fisheye camera. In order to support close human-robot interaction, this camera is directly mounted on the robot and provides a robot-specific field-of-view and viewpoint for the pose recognition system. In this mobile camera setup, 3D pose estimation is realized with a processing pipeline based on YOLOv7, MeTRAbs. Distortion of images captured by the fisheye camera is corrected with Omnicalib. Two such processing pipelines have been implemented, where the first pipeline is used for publishing 3D poses, and the second with an additional component for classifyng gestures in order to allow a human to convey move commands to a robot. With these two pipelines, we provide a novel way to allow the use of a single camera and enabling the human to interact with a robot. © 2024 IEEE.

关键词： Human robot interaction

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EMS®: A Massive Computational Experiment Management System towards Data-driven robotics

EMS®: A Massive Computational Experiment Management System ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Lin, Qinjie Ye, Guo Liu, Han Northwestern Univ Dept Comp Sci Evanston IL 60208 USA

ISBN: (纸本)9798350323658

We propose EMS (R), a cloud-enabled massive computational experiment management system supporting high-throughput computational robotics research. Compared to existing systems, EMS (R) features a sky-based pipeline orchestrator which allows us to exploit heterogeneous computing environments painlessly (e.g., on-premise clusters, public clouds, edge devices) to optimally deploy large-scale computational jobs (e.g., with more than millions of computational hours) in an integrated fashion. Cornerstoned on this sky-based pipeline orchestrator, this paper introduces three abstraction layers of the EMS (R) software architecture: (i) Configuration management layer focusing on automatically enumerating experimental configurations;(ii) Dependency management layer focusing on managing the complex task dependencies within each experimental configuration;(iii) Computation management layer focusing on optimally executing the computational tasks using the given computing resource. Such an architectural design greatly increases the scalability and reproducibility of data-driven robotics research leading to much-improved productivity. To demonstrate this point, we compare EMS (R) with more traditional approaches on an offline reinforcement learning problem for training mobile robots. Our results show that EMS (R) outperforms more traditional approaches in two magnitudes of orders (in terms of experimental high throughput and cost) with only several lines of code change. We also exploit EMS (R) to develop mobile robot, robot arm, and bipedal applications, demonstrating its applicability to numerous robot applications.

关键词： computational robotics cloud robotics massive computational experiments sky computing

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Design and characterization of a low mechanical loss, high-resolution wearable strain gauge

Design and characterization of a low mechanical loss, high-r...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Liu, Addison Araromi, Seun Walsh, Conor J. Wood, Robert J. Harvard Univ John A Paulson Sch Engn & Appl Sci Cambridge MA 02138 USA

ISBN: (纸本)9798350323658

Soft, wearable systems hold promise for a wide variety of new or enhanced applications in the realm of human-computer interaction, physiological monitoring, wearable robotics, and a host of other human-centric devices. Soft sensor systems have been developed concurrently in order to allow these wearable systems to respond intelligently with their surroundings. A recently reported sensing mechanism based on the strain-mediated contact in anisotropically resistive structures (SCARS) is an attractive solution due to its high sensing resolution, low-profile nature, and high mechanical resilience. Furthermore, the resistance-based output provides a simple electronic readout, facilitating its use in a wide variety of applications. However, previous iterations of the sensing mechanism have exhibited stress relaxation and hysteretic behaviors that limit the scope of its use. Here, we report an iteration of the SCARS mechanism that uses silicone-based materials with low mechanical loss in order to improve the sensor signal stability and bandwidth. A new fabrication approach is developed which permits the incorporation of a liquid elastomer adhesive layer while also preserving the SCARS sensing functionality. The silicone-based SCARS sensors exhibited fast stress relaxation response (< 1 s) and reduced cyclic drift properties by more than half that of previously reported designs. A physiological monitoring demonstration is presented, validating that the new sensor design is mechanically resilient to such applications and has potential for use in real-world wearable use cases.

关键词： Soft Sensors and Actuators Wearable robotics

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Autonomous Door Opening with a Rescue Robot 10

Autonomous Door Opening with a Rescue Robot

引用

10th international conference on automation, robotics, and applications, ICARA 2024

作者： Abdulganeev, Renat Lavrenov, Roman Dobrokvashina, Alexandra Bai, Yang Magid, Evgeni Intelligent Robotics Department Kazan Russia Graduated School of Information Science and Technology Osaka University Osaka Japan

ISBN: (纸本)9798350394245

Autonomy of a mobile robot can only be achieved if it independently deals with obstacles. This article discusses an experience of autonomously opening doors by the Russian crawler rescue robot Servosila Engineer. A door and handle detection is based on the YOLO v3 algorithm. The robot motion and stopping at a predefined distance are guided by a laser range finder. After gripping the door handle, the door could be opened using either a pulling or pushing method. Recommended optimal distance to the door, an angle at which the robot turns towards the door and a stopping point for the robot were experimentally set and evaluated in an indoor office environment. © 2024 IEEE.

关键词： Mobile robots

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