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 f...
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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 an...
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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 ...
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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
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 a...
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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 motioncontrol 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.
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 cont...
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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.
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 detecti...
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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.
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, ...
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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 robotcontrol architecture is demonstrated.
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, mo...
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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, motioncontrol 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.
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 resea...
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