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2024 International workshop on Automation, control, and Communication Engineering, IWACCE 2024

作者： Wang, Kaiqi Sun, Qiang School of Electronic Information Engineering Shanghai Dianji University Shanghai201306 China

ISBN: (数字)9781510685420

ISBN: (纸本)9781510685413

The inspection path requirements of a four-wheeled omnidirectional robot in substations are met using an initial A*algorithm-generated path and a trajectory optimized with the cubic non-uniform B-spline algorithm. A fuzzy PID controller is used to regulate the robot in real-time dynamically, ensuring the robot's four-wheel drive speed and rotation angle are properly regulated, reducing the robot's motion error. The motion control design proposed in this paper is verified using a joint simulation environment built using Coppeliasim and Matlab, which effectively avoids collisions between the robot and obstacles, optimizing the smoothness of the cornering path. © 2024 SPIE. All rights reserved.

关键词： Three term control systems

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Content list of 10th international workshop on robot motion and control

Content list of 10th international workshop on robot motion ...

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International workshop on robot motion and control (RoMoCo)

Presents the table of contents/splash page of the proceedings record.

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Research on motion behavior control of the carp robot based on computer vision

Research on motion behavior control of the carp robot based ...

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2024 International workshop on Automation, control, and Communication Engineering, IWACCE 2024

作者： Zhao, Yang Peng, Yong Li, Xue Wang, Rongyan Yan, Yanhong Sun, Shuhao Dong, Xueying Jiang, Kedong Zhang, Xiaowei School of Electrical Engineering Yanshan University Qinhuangdao Hebei066004 China School of Mechanical Engineering Yanshan University Qinhuangdao Hebei066004 China Shijiazhuang University Shijiazhuang Hebei050035 China

ISBN: (数字)9781510685420

ISBN: (纸本)9781510685413

Bio-robot is a kind of creature controlled by human beings by applying intervention signals through control technology to regulate biological behavior. The animal can be controlled artificially and become a kind of animal robot by stimulating the brain motor area of the animal. To realize the precise control of the carp robot, it is necessary to monitor its motion state and quantify its motion behavior. Therefore, the article proposes a method of applying computer vision technology to detect the control effect of the carp robot. In this study, the method of combining inter-frame difference with Gaussian mixture background modeling was used to extract the target, the mass cancroid tracking algorithm was used to track the target, and the parallax method was used to obtain the three-dimensional motion trajectory and various motion parameters. The carp robots were divided into the Experimental group and the control group, with 30 fish in each group. In the Experimental group, the computer vision technology was used for real-time detection, and electrical stimulation parameters was adjusted according to the measured data to control the movement of the carp robot. In the control group, the underwater control experiment was carried out without computer vision technology. The results showed that the success rate of control in the Experimental group was significantly higher than that of the control group (P © 2024 SPIE. All rights reserved.

关键词： Machine vision

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Toward effective collaboration and tracking strategy for ground robot to assist longer missions of aerial robot

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INTERNATIONAL JOURNAL OF ADVANCED robotIC SYSTEMS 2025年第2期22卷

作者： Sivarathri, Ashok Kumar Shukla, Amit Indian Inst Technol Sch Mech & Mat Engn SMME Mandi 175005 Himachal Prades India Indian Inst Technol Ctr Artificial Intelligence & Robot CAIR Mandi Himachal Prades India

Aerial-ground robotic system is a potential candidate for autonomous applications such as target tracking, inspection, agriculture, and environmental mapping. Tracking motion between UAV (unmanned aerial vehicle) and AGV (autonomous ground vehicle) is one of the basic collaborative tasks of the system during execution of collaborative missions. UAV is spatially omnidirectional, thus, can trivially track AGV to provide navigation guidance from a vantage point. AGV is also required to track UAV for providing continuous support (payload and tethered charging) during a mission. However, ground vehicle tracking aerial vehicle is not given much attention in literature. Moreover, nonholonomic AGVs are not suitable for effective collaboration due to their poor mobility. Consequently, they hinder the overall efficiency of collaborative missions. Thus, in this work, we introduce the combination of 4-WISD (4 wheeled independent steering and driving) vehicle and UAV to address these problems. As 4-WISD ground vehicles are expensive in the market from the research perspective, a 4-WISD vehicle is also developed in the current research. ROS (robot Operating System)-based control package is developed for the vehicle for general usage. Then, vision-based strategies for ground vehicles (nonholonomic and 4-WISD vehicles) are developed to track aerial vehicle in GPS (Global Positioning System) denied and outdoor conditions. Ground vehicles are localized using monocular camera of UAV and IMU (Inertial Measurement Unit) sensors. Kinematic tracking controllers have been developed for ground vehicles using sliding mode control method. Lyapunov stability is proven for the controllers. Experiments have been performed on the hardware to validate the tracking strategies. Tracking controllers show satisfactory performance and are suitable for outdoor and GPS denied conditions. A basic qualitative comparison of tracking performance of both ground vehicles is also presented. Combination of UAV a

关键词： Aerial-ground robotic system collaborative mobile robots vision-based control vision-based tracking effective collaboration development of ground robot

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A MATLAB Software for Synchronous robot Axis control by Using Coordinate Transformation 22

A MATLAB Software for Synchronous Robot Axis Control by Usin...

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22nd International Conference on Research and Education in Mechatronics

作者： Graf, Tabea Sophie Biesenbach, Rolf Falkenhain, Jan Bochum Univ Appl Sci Inst Automat & Ind 4 0 Bochum Germany

ISBN: (纸本)9798331505981;9798331505974

The forward transformation of the Denavit-Hartenberg convention is applied to a 3D printed, six-axis industrial robot model developed for training purposes. For this purpose, the servomotors integrated in the system are coordinated via the higher-level MATLAB control software. In addition, the pulse width modulated signals (PWM) are transmitted to the individual control electronics of the servomotors using an Arduino Uno microcontroller. The focus of the programming concept is to implement a motion control system with a particular focus on the axis-synchronous control of the servomotors. Furthermore, the developed system is examined and validated with regard to the accuracy parameters relevant to robotics in terms of positioning and repetition accuracy. The software implementation is also evaluated. Finally, options for further optimization of the system environment are presented.

关键词： 3D print industrial robot model six-axis robot MATLAB implementation axis-synchronous movement control forward transformation Denavit-Hartenberg matrix training systemfor industrial robotics

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Emotion-Aware control Framework for Human-robot Collaboration 1

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16th International workshop on Human-Friendly robotics (HFR)

作者： Pupa, Andrea Varrecchia, Raffaele Secchi, Cristian Univ Modena & Reggio Emilia Dept Sci & Methods Engn Reggio Emilia Italy

ISBN: (数字)9783031550003

ISBN: (纸本)9783031550027;9783031550003;9783031549991

The advent of industrial scenarios involving close interaction between humans and robots, without physical barriers, requires careful examination of the impact on safety and human work experience. In this paper a control framework for Human-robot Collaboration (HRC) that explicitly integrates human emotions and ISO/TS 15066 safety requirements is proposed. The framework employs a motion planning strategy to generate collision-free trajectories considering only the robot joints limits. Subsequently, the speed of the robot is modulated online in order to ensure a safe and efficient collaboration. In other words, the behaviour of the robot adapts to the human operator emotions. The overall framework has been validated on a UR5e.

关键词： human-centered robotics emotion recognition safe human-robot collaboration

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Experimental Validation of an Intelligent Obstacle Avoidance Algorithm with an Omnidirectional Mobile robot for Dynamic Obstacle Avoidance 5

Experimental Validation of an Intelligent Obstacle Avoidance...

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5th IFAC workshop on Cyber-Physical Human Systems

作者： Hindistan, Cagri Selim, Erman Tatlicioglu, Enver Ege Univ Dept Elect & Elect Engn TR-35030 Izmir Turkiye

With the expansion of mobile robot applications, their interactions with humans and their environments have significantly increased, emphasizing the need for enhanced maneuverability and improved environmental detection systems. This work presents the design, development, and control of a mobile robot implemented as a Cyber-Physical System (CPS). The robot communicates wirelessly within networked environments and is equipped with intelligent environmental detection systems compatible with the robot Operating System (ROS). The robot is capable of moving independently in three degrees of freedom using omnidirectional wheels for high maneuverability. Design of an algorithm that enables the robot to navigate in crowded environments, avoiding dynamic human objects while reaching its target is presented. This algorithm calculates weighted motion factors by considering obstacles, gaps, and targets. Different experimental test scenarios are performed for proof of concept. Copyright (c) 2024 The Authors.

关键词： Human and vehicle interaction Cyber-Physical Systems Map building Guidance and control Mobile robots Navigation Autonomous Mobile robots

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Fuzzy control with Central Pattern Generators for the Locomotion of Quadruped robotic Systems 4th

Fuzzy Control with Central Pattern Generators for the Locomo...

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4th Latin American workshop on Computational Neuroscience (LAWCN)

作者： Rico-Mesa, Edgar-Mario Hernandez-Riveros, Jesus-Antonio Ctr Tecnol Manufactura Avanzada Dept Elect Ind St 10469-120 Medellin 050042 Antioquia Colombia Univ Nacl Colombia Fac Minas Dept Energia Elect & Automat Career 8065-223 Medellin 050036 Antioquia Colombia

ISBN: (纸本)9783031638473;9783031638480

The development with CPG of the locomotion of a quadruped robot with three degrees of freedom per leg and its management by fuzzy control is presented. The robot, simulated in Gazebo-ROS, has three proximity sensors, an IMU sensor, and an odometry sensor. The purpose of the robot is the execution of locomotion in different types of movement. To reproduce the motor function of locomotion the central pattern generators use a novel mathematical model. The robot's environment is a labyrinth on a flat surface. A three-level control architecture operates the robot's locomotion. At levels I and II, the motor function of locomotion is reproduced with central pattern generators. Level III plans locomotion movement. This level has parallel control of both obstacle avoidance with a fuzzy controller and robot stability with a central pattern generator. The priority in motion planning is the stability of the robot. The proper functioning of the robot control architecture is demonstrated.

关键词： Central Pattern Generators Stability Reflex Movements Fuzzy control Quadruped robot Gazebo ROS

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Robust control of Quadruped robots using Reinforcement Learning and Depth Completion Network

Robust Control of Quadruped Robots using Reinforcement Learn...

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workshop on Adaptive AIoT Systems (AdaAIoTSys)

作者： Xu, Ruonan Guo, Bin Zhao, Kaixing Jing, Yao Ding, Yasan Yu, Zhiwen Northwestern Polytech Univ Xian Peoples R China

ISBN: (纸本)9798400706646

Achieving robust control of quadruped robots in dynamic and complex terrains is still a challenging task. Although reinforcement learning-based control strategies have made great progress in simulation and reality, motion control of quadruped robots based on depth cameras is still worth studying. In this paper, we proposed a reinforcement learning framework that uses visual perception and proprioception as inputs to train a quadruped robot for robust control, and designed a new depth completion network called DRI-Net for completing missing depth visual information. The proposed network is based on fusing the depth features from depth maps with the contour features from RGB images and enabled the quadruped robot to accurately perceive external environment. Our main aim is to improve the decision making procedure of reinforcement learning controller and final evaluations in dynamic multi-obstacle environments demonstrated that our method outperformed the baselines in terms of multiple metrics.

关键词： Adaptive perception and computing Multi-modal data fusion Reinforcement learning Quadruped robots

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Research on Human-Redundant robot Interaction and Configuration Optimization 13

Research on Human-Redundant Robot Interaction and Configurat...

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2023 13th International workshop on Computer Science and Engineering, WCSE 2023

作者： Li, Yu Wang, Liang School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9789811879500

Redundant robots have obvious advantages such as good motion performance, avoiding singularity and joint limit. Human-robot interaction is an important content in robot field. Currently, there are relatively few research on cooperative compliance of redundant robot. Therefore, taking 4-DOF redundant robot as the research object, the forward and inverse kinematics model is obtained. In order to make full use of redundant characteristics, the inverse kinematics algorithm based on augmented Jacobian matrix with the optimization goal of avoiding joint limit is adopted, which greatly shortens the solution time and can meet real-time control requirement. Then, admittance control system is established for human-robot interaction, and force error is converted into motion error. Through the expansion of Jacobian matrix and admittance control system, human-robot interaction is achieved, while configuration optimization control is also realized. The research provides an important reference for compliance interaction of human-redundant robot cooperation. © WCSE *** rights reserved.

关键词： Human robot interaction

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