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Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid robot Walking

IEEE robotICS AND AUTOMATION LETTERS 2025年第5期10卷 4348-4355页

作者： Sathuluri, Akhil Sartore, Carlotta Dafarra, Stefano Traversaro, Silvio Zimmermann, Markus Pucci, Daniele Tech Univ Munich TUM Sch Engn & Design Lab Prod Dev & Lightweight Design Robot Syst Grp D-80333 Munich Germany Ctr Robot Technol Inst Italiano Technol Artificial & Mech Intelligence I-16163 Genoa Italy

Combined optimisation of various robot subsystems as a co-design problem has been shown to identify performant robots. However, classical optimisation methods result in point-optimum solutions that may not ensure robust performance and physical feasibility, i.e., the existence of components with specifications matching the computed optimum value. To address this problem, we present a set-based robust co-design optimisation strategy to maximise disturbance tolerance. Instead of identifying a single point-optimum solution, a so-called solution space evaluates the combination of the largest design space that delivers the necessary performance while being robust to the largest set of disturbances. The utility of the proposed approach is demonstrated via a computational design study of the ergoCub robot. This study focuses on the robots' walking performance, illustrating (1) improvement in task success considering at least 3 times larger magnitudes of disturbances, (2) identifying a set instead of a point-solution in the design-disturbances space, and (3) improving standardisation of the joint actuation design.

关键词： robots Optimization Legged locomotion Voltage control Motors Aerospace electronics Torque Gears Collision avoidance Humanoid robots Humanoid robot systems optimization and optimal control methods and tools for robot system design

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Orchestrating Method Ensembles to Adapt to Resource Requirements and Constraints During robotic Task Execution

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IEEE robotICS AND AUTOMATION LETTERS 2025年第2期10卷 1186-1193页

作者： Lay, Florian S. Doemel, Andreas Lii, Neal Y. Stulp, Freek German Aerosp Ctr DLR Robot & Mechatron Ctr RM D-82234 Wessling Germany

robot behavior designers commonly select one method - e.g. A* or RRT - that is assumed to have the appropriate trade-off for a given domain between computational load, computation time, and the quality of the result of the method. We propose ensemble orchestration patterns, which evaluate multiple methods, and select the best result, thus exploiting the complementary advantages that alternative methods often have. By implementing different termination, preemption, constraint enforcement and selection schemes, different patterns lead to different (predictable) resource trade-offs. Thus, rather than selecting and committing to only one method, a designer chooses the appropriate pattern and constraints for the desired trade-off, and the pattern then realizes the selection on-line. We apply these patterns to various subtasks that are prevalent in our Surface Avatar ISS Technology Demonstration Mission, such as navigation, motion planning, and registration aswell as to a subtask in the service robotics domain in a simulated experiment. In our evaluation, we demonstrate that these patterns can effectively exploit increased resource budgets or relaxed constraints to find better solutions, and adapt the selection to different situations.

关键词： robots Measurement Ensemble learning Extraterrestrial measurements Service robots Navigation Computational efficiency robot sensing systems Planning Path planning Space robotics and automation methods and tools for robot system design behavior based systems

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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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Speed Gain in Elastic Joint robots: An Energy Conversion-Based Approach

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IEEE robotICS AND AUTOMATION LETTERS 2021年第3期6卷 4600-4607页

作者： Mansfeld, Nico Keppler, Manuel Haddadin, Sami Tech Univ Munich TUM Munich Sch Robot & Machine Intelligence Chair Robot Sci & Syst Intelligence D-80797 Munich Germany German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany

Like humans or animals, robots with compliant joints are capable of performing explosive or cyclic motions by making systematic use of energy storage and release, and it has been shown that they can outperform their rigid counterparts in terms of peak velocity. For rigid joint robots, there exist well-established, computationally inexpensive tools to compute the maximum achievable Cartesian endpoint velocity, which is an important performance and safety characteristic for robot designs. For elastic joint robots, optimal control is usually employed to determine the maximum possible link velocity together with the associated trajectory, which is time consuming and computationally costly for most systems. In this letter, we propose methods to obtain estimates of the maximum achievable Cartesian endpoint velocities of gravity-free elastic joint robots that have computational requirements close to the rigid joint robot case. We formulate an optimal control problem to verify the methods and provide results for a planar 3R robot. Furthermore, we compare the results of our approach with those from real-world throwing experiments which were previously conducted on the elastic DLR David system. Finally, we apply the methods to derive and quantitatively compare the safety properties of DLR David and a hypothetically rigid version of this robot in terms of the Safety Map framework proposed in our previous work.

关键词： robots Safety robot sensing systems Springs Torque Trajectory Optimal control Compliant joints and mechanisms methods and tools for robot system design human-centered robotics physical human-robot interaction robot safety

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Ensuring High Visibility of Passive Markers at Fixed Camera Gain Using Divide and Conquer Method

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IEEE robotICS AND AUTOMATION LETTERS 2024年第11期9卷 9741-9748页

作者： Retinger, Marek Michalski, Jacek Kozierski, Piotr Drapikowski, Pawel Poznan Univ Tech Inst Robot & Machine Intelligence PL-60965 Poznan Poland

The letter presents a novel solution to determine exposure and threshold values for cameras in motion capture systems without excessive interaction with the user. The solution is based on the divide and conquer method, which ensures a fast and efficient search of the values. As the results have shown, users without specialist knowledge can significantly improve the tracking capabilities of the motion capture system, especially for smaller passive markers. The tests have proved that for spherical markers with a diameter of 7.9 mm, the full time tracking capabilities can be ensured based on the settings determined with the proposed method, what is difficult to achieve with the default settings. Moreover, the cameras utilisation can be increased, which should have a positive effect on the overall tracking quality. This makes it possible to use smaller and lighter-weight markers, which is desirable for small flying units with payload capacity of a few grams only. The primary tests were performed in the laboratory equipped with 12 OptiTrack Prime(x) 13W cameras. The dedicated programming interfaces (Motive API and Camera SDK) were used. The validation tests included a DJI Tello EDU unit with four markers attached. In addition to analysis and considerations, the document includes pseudocodes that clearly explain the idea behind the algorithms and allow for an easy implementation of the solution.

关键词： Cameras Indexes robot vision systems Motion capture Tracking Accuracy Software algorithms Visual tracking methods and tools for robot system design motion capture divide and conquer algorithm

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Exploring Human Preferences for Adapting Inappropriate robot Navigation Behaviors: A Mixed-methods Study

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IEEE robotICS AND AUTOMATION LETTERS 2024年第12期9卷 11826-11833页

作者： Zhou, Yunzhong Vroon, Jered Kortuem, Gerd Delft Univ Technol Fac Ind Design Engn NL-2628 CE Delft Netherlands

In social environment navigation, robots inevitably exhibit behaviors that are perceived as inappropriate by humans. Current robots lack the ability to adapt to such human perceptions, leading to repeated inappropriate behaviors. This study employs a mixed-methods approach to explore human-preferred robot adaptations, combining qualitative data from a series of human-robot interactions and a semi-structured interview, and quantitative data from an online survey. 12 participants were recruited to interact with a mobile robot in an indoor setting, reporting 139 instances of inappropriate robot behaviors. The subsequent semi-structured interviews regarding these instances yielded 9 types of inappropriate behaviors and 10 major types of human-preferred robot adaptations, ranging from general ones, such as stopping the motion, to more specific ones, like moving away and then stopping. Additionally, 12 human-preferred adaptations were selected from the interview data and presented to the same participants through an online survey to evaluate their effectiveness in addressing the inappropriate behaviors previously identified. The results reveal the human preference for the robot to move to the side and then stop in most scenarios, which might serve as a general adaptation for addressing inappropriate robot navigation behaviors.

关键词： robots Navigation Presses Human-robot interaction Surveys Protocols Interviews Cameras Service robots robot vision systems Social HRI physical human-robot interaction methods and tools for robot system design human factors and human-in-the-loop

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Shape-Changing robotic Mannequin Shoulder With Bio-Inspired Layered Structure

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IEEE robotICS AND AUTOMATION LETTERS 2023年第8期8卷 5172-5179页

作者： Long, Juncai Li, Jituo Lu, Yiwen Zhou, Chengdi Lu, Guodong Feng, Yixiong Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310007 Peoples R China

Shape-changing robotic mannequin is a humanoid robot for imitating shapes of human bodies. The diversity of human bodies makes it difficult to imitate various body shapes, especially the shoulders. This paper proposes a rigid-flexible-soft coupling three-layered robotic mannequin shoulder inspired by human body anatomy. The robotic mannequin can adjust the anisotropic deformation of its human-like skin to imitate body dimensions, shape details and surface curvatures of target bodies. Structurally, the inner skeleton layer is composed of rigid framework and linear actuators for changing the global body dimensions. The middle muscle layer consists of flexible patches and layer-jamming bars with tunable stiffness for controlling the surface curvatures. The outer soft skin layer envelops the patches, forming a human-like surface of the robotic mannequin. To imitate a human body, the linear actuators drive the patches forward, which deforms the elastic skin layer. The tensioned skin layer inversely drives the bending deformation of patches, which can be controlled by layer-jamming bars. We design the three-layered structure by analyzing the shape differences of hundreds of scanned human models. An energy-based method is proposed to predict and control the coupling deformation of the layered structure. A physical robotic shoulder prototype has been built to verify the effectiveness of our method.

关键词： Humanoid robot systems methods and tools for robot system design shape-changing robotic mannequin

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Joint Mechanical design and Flight Control Optimization of a Nature-Inspired Unmanned Aerial Vehicle via Collaborative Co-Evolution

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IEEE robotICS AND AUTOMATION LETTERS 2021年第2期6卷 2044-2051页

作者： Sufiyan, Danial Win, Luke Soe Thura Win, Shane Kyi Hla Soh, Gim Song Foong, Shaohui Singapore Univ Technol & Design SUTD Engn Prod Dev Pillar Singapore 487372 Singapore

In this work, a collaborative co-evolution approach is adopted to solve a joint physical design and feedback control optimization problem of a nature-inspired Unmanned Aerial Vehicle (UAV). Unlike traditional multirotors and fixed-wing aircraft, lift is achieved by spinning its entire body with attached aerofoils around a central axis and positional control is attained through regulation of 2 sets of independent aerodynamic surfaces and thrusters. The collaborative co-evolution process consists of 2 'species,' the first consisting of the mechanical design variables and the second consisting of Proportional-Integral-Derivative (PID) and central pattern generator (CPG) controller variables. Each species have their own respective individual Evolutionary Algorithm (EA) solvers, Covariance Matrix Adaptation-Evolutionary Strategy (CMA-ES) and Parameter Exploring Policy Gradients (PEPG). In each optimization iteration, the parameters of one species is combined with representatives with the highest fitness from the other species and fed into a shared model for fitness evaluation, with each species taking turns to send a representative. Detailed performance comparison in trajectory tracking and power consumption between the proposed jointly optimized system against a design-only optimized, control-only optimized and unoptimized baseline were conducted. It was found that configurations with optimized designs would draw on average 18% less power than the non-optimized designs, and configurations with optimized controllers reduce error by 56% on average. The best performing configuration is the one with jointly optimized mechanical design and controller which outperforms all other configurations individually and collectively.

关键词： Aerial systems mechanics and control evolutionary robotics methods and tools for robot system design

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FastSim: A Modular and Plug-and-Play Simulator for Aerial robots

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IEEE robotICS AND AUTOMATION LETTERS 2024年第6期9卷 5823-5830页

作者： Cui, Can Zhou, Xiaobin Wang, Miao Gao, Fei Xu, Chao Zhejiang Univ Inst Cyber Syst & Control Coll Control Sci & Engn Hangzhou 310027 Peoples R China Zhejiang Univ Huzhou Inst Huzhou 313000 Peoples R China

State-of-the-art robotics simulators are equipped with well-established mapping, planning, and control systems. However, they lack modularity and the convenience of plug-and-play functionality. In this work, we present FastSim, a high-fidelity and user-friendly simulation framework based on the Unity engine. FastSim enables users to build robot simulation scenarios efficiently, by decoupling various simulation tasks with customizable modules, which contains simulated sensors, integrated utilities, visualization tools, and template robots. Besides high-performance robot dynamics simulation and high-quality image rendering, hardware-in-the-loop and mixed-reality applications are also available in this framework. The distinguished merits of FastSim include: (1) robot Operating system (ROS) compatible control interfaces and abundant visualization tools for researchers who prefer ROS-based toolchains and (2) its integration of state-of-the-art planning algorithms, which enables users, even beginners, to quickly master the deployment of highly autonomous robots in simulations. Finally, we demonstrate the flexibility of FastSim by several experiments and performance evaluations with open source examples in repository: https://***/ZJU-FAST-Lab/FastSim.

关键词： robots robot sensing systems Sensors Engines Image sensors Rotors Drones Aerial systems: applications simulation and animation methods and tools for robot system design

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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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