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IEEE OPEN JOURNAL OF CONTROL systemS 2023年 2卷 12-23页

作者： Wilson, Sean Egerstedt, Magnus Georgia Inst Technol Georgia Tech Res Inst Aerosp Transportat & Adv Syst Lab Atlanta GA 30332 USA Univ Calif Irvine Dept Elect Engn & ComputerScience Irvine CA USA

In robotic research and education, the cost in terms of money, expertise, and time required to instantiate and maintain robotic testbeds can prevent researchers and educators from including hardware based experimentation in their laboratories and classrooms. This results in robotic algorithms often being validated by low-fidelity simulation due to the complexity and computational demand required by high-fidelity simulators. Unfortunately, these simulation environments often neglect real world complexities, such as wheel slip, actuator dynamics, computation time, communication delays, and sensor noise. The robotarium provides a solution to these problems by providing a state-of-the-art, multi-robot research facility to everyone around the world free of charge for academic and educational purposes. This paper discusses the remote usage of the testbed since its opening in 2017, details the testbeds design, and provides a brief tutorial on how to use it.

关键词： Agent-based systems engineering for robotic systems methods and tools for robot system design multi-robot systems software-hardware integration for robot systems swarm robotics wheeled robots Agent-based systems engineering for robotic systems methods and tools for robot system design multi-robot systems software-hardware integration for robot systems swarm robotics wheeled robots

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A Framework for robot Self-Assessment of Expected Task Performance

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IEEE robotICS AND AUTOMATION LETTERS 2022年第4期7卷 12523-12530页

作者： Frasca, Tyler Scheutz, Matthias Tufts Univ Dept Comp Sci Boston MA 02155 USA Tufts Univ Fac Comp Sci Boston MA 02155 USA

We propose a self-assessment framework which enables a robot to estimate how well it will be able to perform a known or possibly novel task. The robot simulates the task to generate a state distribution of possible outcomes and determines (1) the likelihood of overall success, (2) the most probable failure location, and (3) the expected time to task completion. We evaluate the framework on the "FetchIt! " mobile manipulation challenge which requires the robot to fetch a variety of parts around a small enclosed arena. By comparing the simulated and actual task resulting state distributions, we show that the robot can effectively assess its expected performance which can be communicated to humans.

关键词： Human-robot teaming methods and tools for robot system design simulation and animation

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Simulation Aided Co-design for Robust robot Optimization

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IEEE robotICS AND AUTOMATION LETTERS 2022年第4期7卷 11306-11313页

作者： Fadini, Gabriele Flayols, Thomas Del Prete, Andrea Soueres, Philippe Univ Toulouse LAAS CNRS CNRS Toulouse France Univ Trento Ind Engn Dept I-38123 Trento Italy

This letter outlines a bi-level algorithm to concurrently optimize robot hardware and control parameters in order to minimize energy consumption during the execution of tasks and to ensure robust performance. The outer loop consists in a genetic algorithm that optimizes the co-design variables according to the system average performance when tracking a locally optimal trajectory in perturbed simulations. The tracking controller exploits the locally optimal feedback gains computed in the inner loop with a Differential Dynamic Programming algorithm, which finds the optimal reference trajectories. Our simulations feature a complete actuation model, including friction compensation and bandwidth limits. This strategy can potentially account for arbitrary perturbations, and discards solutions that cannot robustly meet the task requirements. The results show improved performance of the designed platform in realistic application scenarios, autonomously leading to the selection of lightweight and more transparent hardware.

关键词： Mechanism design methods and tools for robot system design optimization and optimal control robust/adaptive control simulation and animation

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Feasible Wrench Set Computation for Legged robots

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IEEE robotICS AND AUTOMATION LETTERS 2022年第3期7卷 7676-7683页

作者： Prieto, Ander Vallinas Keemink, Arvid Q. L. van Asseldonk, Edwin H. F. van der Kooij, Herman Univ Twente Dept Biomech Engn NL-7522 NB Enschede Netherlands

During locomotion, legged robots interact with the ground by sequentially establishing and breaking contact. The interaction wrenches that arise from contact are used to steer the robot's Center of Mass (CoM) and reject perturbations that make the system deviate from the desired trajectory and often make them fall. The feasibility of a given control target (desired CoM wrench or acceleration) is conditioned by the contact point distribution, ground friction, and actuation limits. In this work, we develop a method to compute the set of feasible wrenches that a legged robot can exert on its CoM through contact. The presented method can be used with any amount of non-co-planar contacts and takes into account actuation limits and limitations based on an inelastic contact model with Coulomb friction. This is exemplified with a planar biped model standing with the feet at different heights. Exploiting assumptions from the contact model, we explain how to compute the set of wrenches that are feasible on the CoM when the contacts remain in position as well as the ones that are feasible when some of the contacts are broken. Therefore, this method can be used to assess whether a switch in contact configuration is feasible while achieving a given control task. Furthermore, the method can be used to identify the directions in which the system is not actuated (i.e. a wrench cannot be exerted in those directions). We show how having a joint be actuated or passive can change the non-actuated wrench directions of a robot at a given pose using a spatial model of a lower-extremity exoskeleton. Therefore, this method is also a useful tool for the design phase of the system. This work presents a useful tool for the control and design of legged systems that extends on the current state of the art.

关键词： Legged robots multi-contact whole-body motion planning and control methods and tools for robot system design

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Autonomous Magnetic Navigation Framework for Active Wireless Capsule Endoscopy Inspired by Conventional Colonoscopy Procedures

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IEEE robotICS AND AUTOMATION LETTERS 2022年第2期7卷 1729-1736页

作者： Xu, Yangxin Li, Keyu Zhao, Ziqi Meng, Max Q-H Chinese Univ Hong Kong Dept Elect Engn Hong Kong Peoples R China Southern Univ Sci & Technol Dept Elect & Elect Engn Shenzhen 518055 Peoples R China Southern Univ Sci & Technol Shenzhen Key Lab Robot Percept & Intelligence Shenzhen 518055 Peoples R China Chinese Univ Hong Kong Shenzhen Res Inst Shenzhen 518057 Peoples R China

In recent years, simultaneous magnetic actuation and localization (SMAL) for active wireless capsule endoscopy (WCE) has been intensively studied to improve the efficiency and accuracy of gastrointestinal (GI) examination using WCE. In this letter, we draw inspiration from the conventional colonoscopy procedures and propose an autonomous navigation framework for active WCE based on SMAL technologies, in order to realize efficient and accurate navigation of a robotic capsule endoscope in unknown tubular environments (e.g., intestines) with minimal user effort. First, the capsule is actuated to explore the unknown tubular environment using an automatic propulsion algorithm, and a viable path to represent the environment is generated. Then, the capsule is navigated towards any user-selected point on the trajectory using a trajectory following algorithm, to allow accurate and repeated inspections of suspicious lesions. We implement the navigation framework on a robotic system incorporated with advanced SMAL algorithms, and validate it in the navigation experiments in various tubular environments including phantoms and ex-vivo pig colons. Our results demonstrate that the proposed framework can effectively navigate the capsule in unknown, complex tubular environments with a satisfactory accuracy, repeatability and efficiency.

关键词： Engineering for robotic systems medical robots and systems methods and tools for robot system design

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A Dynamic Resistive Force Model for designing Mobile robot in Granular Media

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IEEE robotICS AND AUTOMATION LETTERS 2022年第2期7卷 5357-5364页

作者： Huang, Lei Zhu, Junda Yuan, Yufeng Yin, Yuehong Yin, Y. H. Shanghai Jiao Tong Univ Inst Robot State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China

Locomotion failure is the challenge for wheeled robots applied in granular media, which puts a high demand on the design of wheels. Due to a lack of a mechanical analysis method that can analyze the dynamic interaction between wheel and granular media, it is a challenge to seek design guidance for the wheel geometry. To this end, we introduce a Dynamic Resistive Force Model (DRFM) method suitable for 3D dynamic intrusion. In this method, Granular Resistive Force Theory (RFT) can be extended to 3D RFT smoothly by using granular parameters, and additional velocity terms can describe the effect of intrusion velocity on intrusion force. The relationship between wheel geometry and mechanical properties can be established by performing differential processing on the wheel surface and integrating the force generated by each micro-surface. On this basis, a complete set of solutions is proposed for the design of mobile robot wheels in granular media, and the screw-propelled wheel is taken as an example to optimize it. Theories, simulations, and experiments have all proved that the optimized wheel can produce greater thrust and lift than normal screw-propelled wheel when ensuring the stability of smooth propulsion. The proposed solution and the optimized screw-propelled wheel bring insights for designing mobile robots in granular media.

关键词： Contact modeling filed robots methods and tools for robot system design wheeled robots

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A Novel Sidewinding Snake robot with Non-zero Slope in Granular Terrains Modeled by DRFM

A Novel Sidewinding Snake Robot with Non-zero Slope in Granu...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Huang, Lei Ming, Hengqiang Yin, Yuehong Shanghai Jiao Tong Univ Dept Mech Engn Shanghai Peoples R China

ISBN: (纸本)9781665476331

Exploring granular terrains like loose sand is usually not easy for robots, which must solve the sinking and low-moving efficiency problems. Relying on a unique sidewinding gait, snakes can move efficiently in granular terrains, which brings design insight for continuum robots. However, most previous studies of snake-like sidewinding robots focus on the lateral undulation motion like a sine wave, but few generate the body's non-zero slope like real snakes. In this article, we analyze the effect of non-zero slope on locomotion efficiency using a Dynamic Resistive Force Model (DRFM) and a material point method (MPM). This work develops a non-wheeled 3D printed snake robot, and the body's slope can be changed. In addition, the unique structure with soft helix rod makes it have more than 35 degrees of freedom in 35 centimeters in length. In order to reduce weight and complexity, the robot needs only a single motor to achieve the sidewinding gait. Experiments not only confirm that the robot can move more efficiently by changing the slope, which shows the importance of the non-zero slope of the snake robot but demonstrates the designed robot's ability to explore in granular terrains.

关键词： Biologically-inspired robots field robots methods and tools for robot system design biomimetics

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Understanding Xacro Misunderstandings 39

Understanding Xacro Misunderstandings

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IEEE International Conference on robotics and Automation (ICRA)

作者： Albergo, Nicholas Rathi, Vivek Ore, John-Paul North Carolina State Univ Dept Comp Sci Raleigh NC 27695 USA North Carolina State Univ Elect & Comp Engn Dept Raleigh NC 27695 USA

ISBN: (纸本)9781728196817

The Xacro XML macro language can be used to augment the Universal robot Description Format (URDF) and is part of a critical toolchain from geometric representations to simulation, visualization, and system execution. However, members of the robotics community, especially newcomers, struggle to troubleshoot and understand the interplay between systems and the Xacro preprocessing pipeline. To better understand how system developers struggle with Xacros, we manually examine 712 Xacro-related questions from the question and answer site *** and find Xacro misunderstandings fit into eight key categories using a systematic, qualitative approach called Open Coding. By examining the 'tags' applied to questions, we further find that Xacro problems manifest in a befuddlingly broad set of contexts. This hinders onboarding and complicates system developers' understanding of representations and tools in the robot Operating system. We aim to provide an empirical grounding that identifies and prioritizes impediments to users of open robotics systems, so that tool designers, teachers, and robotics practitioners can devise ways of improving robot software tooling and education.

关键词： Software tools for robot Programming methods and tools for robot system design Software-Hardware Integration for robot systems

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Minimizing torque requirements in robotic manipulation through elastic elements optimization in a physics engine

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INTERNATIONAL JOURNAL OF ADVANCED robotIC systemS 2024年第1期21卷

作者： Marchal, Maxime Marzougui, Dries Furnemont, Raphael Verstraten, Tom Wyffels, Francis Vrije Univ Brussel Fac Mech Engn Multibody Mech Res Grp Ixelles Belgium Flanders Make Ghent Belgium Ghent Univ imec IDLab AIRO Res lab Antwerp Belgium Vrije Univ Brussel Fac Mech Engn Multibody Mech Res Grp B-1050 Elsene Belgium

The increasing number of robots and the rising cost of electricity have spurred research into energy-reducing concepts in robotics. One such concept, elastic actuation, introduces compliant elements such as springs into the robot structure. This article presents a comparative analysis between two types of elastic actuation, namely, monoarticular parallel elastic actuation and biarticular parallel elastic actuation, and demonstrates an end-to-end pipeline for their optimization. Starting from the real-world system identification of an RRR robotic arm, we calibrate a simulation model in a general-purpose physics engine and employ in silico evolutionary optimization to co-optimize spring configurations and trajectories for a pick-and-place task. Finally, we successfully transfer the in silico optimized elastic elements and trajectory to the real-world prototype. Our results substantiate the ability of elastic actuation to reduce the actuators' torque requirements heavily. In contrast to previous work, we highlight the superior performance of the biarticular variant over the monoarticular configuration. Furthermore, we show that a combination of both proves most effective. This work provides valuable insights into the torque-reducing use of elastic actuation and demonstrates an actuator-invariant in silico optimization methodology capable of bridging the sim2real gap.

关键词： Actuation and joint mechanisms compliant joints and mechanisms evolutionary robotics methods and tools for robot system design optimization and optimal control

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Optimal design of Continuum robots With Reachability Constraints

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IEEE robotICS AND AUTOMATION LETTERS 2021年第2期6卷 3902-3909页

作者： Cheong, Hyunmin Ebrahimi, Mehran Duggan, Timothy Autodesk Inc Autodesk Res Toronto ON M5G 1M1 Canada Otherlab Inc San Francisco CA 94017 USA

While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find optimal designs of continuum robots, given reachability constraints. First, we leverage both forward and inverse kinematic computations to perform reachability analysis in an efficient yet accurate manner. While implementing inverse kinematics, we also integrate torque minimization at joints such that robot configurations with the minimum actuator torque required to reach a given workspace could be found. Lastly, we apply an estimation of distribution algorithm (EDA) to find optimal robot dimensions while considering reachability, where the objective function could be the total length of the robot or the actuator torque required to operate the robot. Through three application problems, we show that the EDA is superior to a genetic algorithm (GA) in finding better solutions within a given number of iterations, as the objective values of the best solutions found by the EDA are 4-15% lower than those found by the GA.

关键词： Kinematics methods and tools for robot system design optimization and optimal control soft robot applications

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