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Development of an Integrated Robotic Workcell for Automated Bonding in Footwear Manufacturing

IEEE ACCESS 2024年 12卷 5066-5080页

作者： Gomez-Hernandez, Jose-Francisco Gutierrez-Hernandez, Jose-Maria Jimeno-Morenilla, Antonio Sanchez-Romero, Jose-Luis Fabregat-Periago, Maria-Dolores INESCOP Footwear Technol Ctr Elda 03600 Spain Univ Alicante Dept Comp Technol San Vicente Del Raspeig 03690 Spain

Traditional manufacturing industries are currently immersed in an automation process, integrating new techniques and tools, driven by the demands from producers to improve the manufacturing process as well as the working conditions of employees. For the footwear industry, bonding is a key operation in the manufacturing process where the outsole is assembled onto the lasted shoe. However, in this operation, workers are often subjected to hazardous substances (i.e., organic solvents) and perform repetitive tasks with limited added value. Against this background, this paper describes the results of a research project, whose aim was to obtain the maximum benefit from different technologies analyzed, such as collaborative robotics, artificial vision and multirobot control, for the manipulation of flexible/deformable objects. The main result of this project is a robotic workcell for shoe bonding that has been introduced in the production line to fully automate the operation. This workcell integrates three collaborative robots, one for (hot melt) adhesive application and another two, with two-finger electric grippers, to carry out the bonding synchronously. Different vision systems have also been embedded to conduct the various processes involved. The entire operation is controlled and coordinated through ROS (Robot Operating System). The key findings of this research showcase the automation of a process traditionally undertaken by humans. In this novel approach, two robots collaborate to manipulate flexible objects, liberating the operator from engaging in repetitive, non-value-added tasks and the handling of hazardous substances.

关键词： Bonding footwear fourth industrial revolution robotics and automation smart manufacturing manufacturing automation

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Soft Barometric Tactile Sensor Utilizing Iterative Pressure Reconstruction

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IEEE ACCESS 2024年 12卷 133889-133899页

作者： de Clercq, Thomas Sianov, Anatolii Ostyn, Frederik Crevecoeur, Guillaume Univ Ghent Dept Electromech Syst & Met Engn B-9000 Ghent Belgium

Tactile sensors play a pivotal role in enhancing robotic gripping systems across various industries, allowing robots to interact with their environment with precision and adaptability. This study introduces a novel soft barometric tactile sensor designed to capture pressure data beneath the contact pad within an elastomer layer. By employing an iterative fitting process for a parameterized pressure distribution, the sensor eliminates the need for extensive calibration or complex training procedures. A novel metric was introduced to evaluate the accuracy of pressure reconstruction in tactile sensors. This was complemented by quantitative investigations. Moreover, the precision of multiple contact detection and the capabilities of force estimation were examined. Finally, the practical applications of the sensor were demonstrated through in-hand measurement of object orientation. The sensor exhibits promising results, accurately reconstructing pressure distributions for a wide range of indenters, reliably discerning two contacts when their distance exceeds 5 mm and estimating forces with a Mean Absolute Error (MAE) of 1.83 N. Additionally, the in-hand reorientation achieved a Mean Absolute Rotation Error (MARE) of 6.81 degrees, demonstrating the sensor's potential for real-world applications.

关键词： Tactile sensors Sensors Iterative methods Image reconstruction Printed circuits Elastomers Accuracy grasping robotics and automation

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Design and Control of a Collision-Resilient Aerial Vehicle With an Icosahedron Tensegrity Structure

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2024年第5期29卷 3449-3460页

作者： Zha, Jiaming Wu, Xiangyu Dimick, Ryan Mueller, Mark W. Univ Calif Berkeley HiPeRLab Berkeley CA 94720 USA

We introduce collision-resilient aerial vehicles with icosahedron tensegrity structures, capable of surviving high-speed impacts and resuming operations postcollision. We present a model-based design approach, which guides the selection of the tensegrity components by predicting structural stresses through a dynamics simulation. Furthermore, we develop an autonomous reorientation controller that facilitates postcollision flight resumption. The controller enables the vehicles to rotate from an arbitrary orientation on the ground for takeoff. With collision-resilience and reorientation ability, the tensegrity aerial vehicles can operate in cluttered environments without complex collision-avoidance strategies. These capabilities are validated by a test of an experimental vehicle operating autonomously in a previously unknown forest environment.

关键词： Stress Quadrotors Vehicle dynamics Robots Bending Force Collision avoidance Autonomous aerial vehicles autonomous systems robotics and automation robot control robots robotics and automation

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A Two-Layer Trajectory Tracking Control Scheme of Manipulator Based on ELM-SMC for Autonomous Robotic Vehicle

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IEEE TRANSACTIONS ON automation SCIENCE AND ENGINEERING 2024年第3期21卷 2337-2348页

作者： Wang, Xingyu Wang, Dazhi Du, Mingtian Song, Keling Ni, Yongliang Li, Yanming Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Peoples R China Univ Melbourne Dept Mech Engn Melbourne Vic 3010 Australia China North Vehicle Res Inst Beijing 100072 Peoples R China

With the development of autonomous driving technology, some special vehicles should also be developed into autonomous driving vehicles. The robotic vehicles are widely used in engineering operations, and the robotic manipulator is a common tool mounted on robotic vehicles. The autonomous driving of robotic vehicles requires not only automatic movement, but also the automation of the robotic manipulator drive system. Therefore, this paper proposes an adaptive trajectory tracking control of manipulator based on sliding mode control (SMC), which can more accurately describe the joint space movement of the manipulator system under multi task coupling and external interference. Considering the multi-tasking situation, the influence of obstacle avoidance and base tilt on the trajectory of manipulator is investigated by using extreme learning machine (ELM), and the framework of machine learning is established. The output based on ELM-SMC is used as the bottom-layer control. Then an effective trajectory compensation method is proposed as the top-level control to avoid the error accumulation in the periodic repeated operation of the manipulator. Finally, the application effect of trajectory error tracking and compensation of manipulator in complex tasks of dynamic environment is verified by simulation and experiments, which lays a foundation for the stability control of manipulator in practical complex engineering applications. Note to Practitioners-The motivation of this paper is to solve the problem of poor trajectory tracking control accuracy of the manipulator caused by the change of the direction of the manipulator base. It is suitable for the high-precision position control of the manipulator assembled on the mobile robotic vehicle. Nowadays, the autonomous driving technology is developing rapidly, and the automation of traffic will be widely popularized in the future. Therefore, we should not only pay attention to the autonomous driving function of passenger vehicles,

关键词： Robotic vehicles robotics and automation trajectory tracking sliding mode control machine learning

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An Open and Reconfigurable User Interface to Manage Complex ROS-Based Robotic Systems

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IEEE ACCESS 2024年 12卷 114601-114617页

作者： Fresnillo, Pablo Malvido Vasudevan, Saigopal Perez Garcia, Jose A. Martinez Lastra, Jose L. Tampere Univ Fac Engn & Nat Sci FAST Lab Tampere 33720 Finland Univ Vigo Design & Fabricat Ind Engn Vigo 36310 Spain

The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build modular and large robotic applications. However, ROS presents a steep learning curve and lacks the intuitive usability of vendor-specific robotic Graphical User Interfaces (GUIs). Moreover, its modular and distributed nature complicates the control and monitoring of extensive systems, even for advanced users. To address these challenges, this paper introduces a novel, highly adaptable and reconfigurable web-based GUI for intuitively controlling, monitoring, and configuring complex ROS-based robotic systems. The GUI leverages ROSBridge and roslibjs to ensure seamless communication with ROS systems via topics and services. Special attention has been paid to enable the easy reconfiguration of the GUI and to minimize the modifications required to integrate it with new robotic systems. Thus, it has been designed as a versatile platform, which allows for the selective incorporation of modular features to accommodate diverse robotic systems and applications. A predefined template has been defined to ensure the compatibility of the developed features with the GUI platform. Additionally, an initial set of commonly used features in robotic applications is presented. To demonstrate its reconfigurability, the GUI was customized and tested for four industrial use cases, receiving positive feedback. The project's repository has been made publicly available to support the robotics community and lower the entry barrier for ROS in industrial applications.

关键词： Robots Service robots Robot kinematics Graphical user interfaces Software Usability Visualization Industrial engineering robotics and automation Operating systems Graphic user interfaces human-robot interaction industrial applications robotics and automation ROS ROS

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Aggregate-Forming Planner for Autonomous Earth-Moving

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IEEE ACCESS 2023年 11卷 118841-118848页

作者： Shaked, Tom Bar-Sinai, Karen Lee Meles-Braverman, Ari Elmakis, Oren Degani, Amir Technion Israel Inst Technol Fac Civil & Environm Engn IL-32000 Haifa Israel Tech Univ Munich Associate Professorship Urban Design D-80333 Munich Germany Technion Fac Mech Engn IL-3200003 Haifa Israel Technion Autonomous Syst Program TASP IL-3200003 Haifa Israel

Research in advanced construction and autonomous earthworks begins to explore the shaping of aggregates for construction, military, and environmental purposes. However, while current work in autonomous earthworks focuses on grading and pushing aggregates, there is limited research on moving aggregates to form specific shapes on a surface. This action can aid in gathering aggregates for on- site construction of re- configurable formations, performing architectural tasks, or piling material reservoirs for concrete production. To support aggregate-forming, an autonomous agent is required to move non-labeled aggregates from multiple locations to numerous proximate target points in a predefined desired shape. In this process, the agent needs to push the aggregates, handle material spills, and update both the material location and the outcome formation. The paper presents a planner for autonomous aggregate shaping to support this task. The path generation is first demonstrated in a simulation environment and validated in an in- lab experimental setup, showing over 90% success rate. The results show that employing the planner can assist in advancing autonomous earthworks toward on- site aggregate-forming.

关键词： Advanced construction autonomous earthworks path planning robotics and automation

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Non-Prehensile Object Transportation via Model Predictive Non-Sliding Manipulation Control

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2023年第5期31卷 2231-2244页

作者： Selvaggio, Mario Garg, Akash Ruggiero, Fabio Oriolo, Giuseppe Siciliano, Bruno Univ Naples Federico II Dept Elect Engn & Informat Technol PRISMA Lab I-80125 Naples Italy Sapienza Univ Rome Dept Informat Automat & Management Engn DIAG I-00185 Rome Italy

This article proposes a model predictive non-sliding manipulation (MPNSM) control approach to safely transport an object on a tray-like end-effector of a robotic manipulator. For the considered non-prehensile transportation task to succeed, both non-sliding manipulation and the robotic system constraints must always be satisfied. To tackle this problem, we devise a model predictive controller enforcing sticking contacts, i.e., preventing sliding between the object and the tray, and assuring that physical limits such as extreme joint positions, velocities, and input torques are never exceeded. The combined dynamic model of the physical system, comprising the manipulator and the object in contact, is derived in a compact form. The associated non-sliding manipulation constraint is formulated such that the parametrized contact forces belong to a conservatively approximated friction cone space. This constraint is enforced by the proposed MPNSM controller, formulated as an optimal control problem that optimizes the objective of tracking the desired trajectory while always satisfying both manipulation and robotic system constraints. We validate our approach by showing extensive dynamic simulations using a torque-controlled 7-degree-of-freedom (DoF) KUKA LBR IIWA robotic manipulator. Finally, demonstrative results from real experiments conducted on a 21-DoF humanoid robotic platform are shown.

关键词： Manipulators robot control robotics and automation robots service robots

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Differentiable Learning of Scalable Multi-Agent Navigation Policies

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IEEE robotics and automation LETTERS 2023年第4期8卷 2229-2236页

作者： Ye, Xiaohan Pan, Zherong Gao, Xifeng Wu, Kui Ren, Bo Tencent LightSpeed Studios Shenzhen 518054 Peoples R China Nankai Univ Coll Comp Sci Tianjin 300350 Peoples R China

We present an end-to-end differentiable learning algorithm for multi-agent navigation policies. Compared with prior model-free learning algorithms, our method leads to a significant speedup via the gradient information. Our key innovation lies in a novel differentiability analysis of the optimization-based crowd simulation algorithm via the implicit function theorem. Inspired by continuum multi-agent modeling techniques, we further propose a kernel-based policy parameterization, allowing our learned policy to scale up to an arbitrary number of agents without re-training. We evaluate our algorithm on two tasks in obstacle-rich environments, partially labeled navigation and evacuation, for which loss functions can be defined making the entire task learnable in an end-to-end manner. The results show that our method can achieve more than one order of magnitude speedup over model-free baselines and readily scale to unseen target configurations and agent sizes.

关键词： Navigation Task analysis Heuristic algorithms Trajectory Training Kernel Mathematical models Multi-robot systems robotics and automation swarm robotics

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Design and Applications of Soft Actuators Based on Digital Light Processing (DLP) 3D Printing

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IEEE ACCESS 2023年 11卷 86227-86242页

作者： Wan, Jingjing Sun, Lechen Du, Tianhao Natl Univ Singapore Coll Design & Engn Singapore 117566 Singapore

Compared with rigid robots, soft robots have the advantages of strong environmental adaptability, good human-robot interaction, and simple control systems;therefore, soft actuators have been widely studied in recent years. Based on DLP 3D printing technology, this study makes three kinds of pneumatic soft actuators: the soft gripper with the auxetic structure, the Elongation Bellow Actuator (EBA) and the Omnidirectional Bending Bellow Actuator (OBBA). Through experimental testing and finite element simulation, it was found that these actuators have the characteristics of fast response, high stability and large driving force. In this paper, an out-pipe crawling soft robot and soft robotic arm using these three soft actuators are designed. The pipe robot can realize omnidirectional turning and adapt to different shapes and sizes of pipes, with a movement speed of 2.85 mm/s (0.016 body length/s) on the 44 mm diameter round cross-section pipe and 2.67 mm/s (0.015 body length/s) on the 30 mmx30 mm square cross-section pipe. At the same time, an innovative motion mode is designed for the pipe robot in an underwater environment, which provides new ideas for underwater pipe soft robots. And the soft robotic arm can achieve omnidirectional bending anda specific range of grasping work, and compared with the rigid body robot arm, it is small in size, low in mass and has a higher degree of freedom. Finally, by combining the robotic arm and pipe robot, this paper proposes a pipe soft robot collaboration system and simulates its function in industrial pipeline systems, which has good application prospects.

关键词： robotics and automation soft robotics

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Origami-Inspired Wearable Robot for Trunk Support

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2023年第3期28卷 1466-1476页

作者： Li, Dongting Yumbla, Emiliano Quinones Olivas, Alyssa Sugar, Thomas Amor, Heni Ben Lee, Hyunglae Zhang, Wenlong Aukes, Daniel M. Arizona State Univ Sch Mfg Syst & Networks Ira A Fulton Sch Engn Mesa AZ 85212 USA Arizona State Univ Sch Engn Matter Transport & Energy Ira A Fulton Sch Engn Tempe AZ 85212 USA Arizona State Univ Sch Comp & Augmented Intelligence Ira A Fulton Sch Engn Tempe AZ 85212 USA

We present a wearable "exo-shell " device inspired by the human spine for improving the gait of elderly people during obstacle avoidance tasks. This device-designed and fabricated with origami-inspired techniques-features a serial chain of lockable joints that can be stiffened using a braking system inspired by laminar jamming concepts. Current related work has identified that the trunk plays a crucial role in obstacle avoidance tasks. In this article, we thus propose an affordable wearable system that can be quickly fabricated and whose design can be adjusted to fit the individual wearer. The design leverages switchable, passive systems, in combination with lightweight materials that remain as "transparent " to the user as possible when inactive. This article focuses on translating human requirements into a tangible design that addresses the current state of our biomechanics knowledge. We describe the kinematics and forces of our proposed device, describe the performance of our system in a locked and unlocked state, discuss the integration of various sensors into our device, and characterize the performance of the device when locked and unlocked.

关键词： Parallel robots robotics and automation robot kinematics wearable robots

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