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ROS-NetSim: A Framework for the Integration of robotic and Network Simulators

IEEE robotICS AND AUTOMATION LETTERS 2021年第2期6卷 1120-1127页

作者： Calvo-Fullana, Miguel Mox, Daniel Pyattaev, Alexander Fink, Jonathan Kumar, Vijay Ribeiro, Alejandro Univ Penn Dept Elect & Syst Engn Philadelphia PA 19104 USA MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA Univ Penn Dept Mech Engn & Appl Mech Philadelphia PA 19104 USA Tampere Univ Unit Elect Engn Tampere 33720 Finland US Army Res Lab Dept Computat & Informat Sci Adelphi MD 20783 USA

Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or Perception-Action loops closed over a communication channel, are a critical component of multi-robot systems. However, we lack appropriate tools for simulating PAC loops. To that end, in this letter, we introduce ROS-NetSim, a ROS package that acts as an interface between robotic and network simulators. With ROS-NetSim, we can attain high-fidelity representations of both robotic and network interactions by accurately simulating the PAC loop. Our proposed approach is lightweight, modular and adaptive. Furthermore, it can be used with many available network and physics simulators by making use of our proposed interface. In summary, ROS-NetSim is (i) Transparent to the ROS target application, (ii) Agnostic to the specific network and physics simulator being used, and (iii) Tunable in fidelity and complexity. As part of our contribution, we have made available an open-source implementation of ROS-NetSim to the community.

关键词： Physics robot kinematics Picture archiving and communication systems Synchronization robot sensing systems Communication channels Wireless sensor networks Multi-robot systems networked robots methods and tools for robot system design software architecture for robotic and automation

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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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Towards Assessing Compliant robotic Grasping From First-Object Perspective via Instrumented Objects

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IEEE robotICS AND AUTOMATION LETTERS 2024年第7期9卷 6320-6327页

作者： Knopke, Maceon Zhu, Liguo Corke, Peter Zhang, Fangyi Queensland Univ Technol QUT Ctr Robot Brisbane Qld 4000 Australia

Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp the objects so that it can perform the required task. Although some methods have been proposed to tackle this issue, performance assessment is still a problem for directly measuring object property changes and possible damage. To fill the gap, a new concept is introduced in this paper to assess compliant robotic grasping using instrumented objects. A proof-of-concept design is proposed to measure the force applied on a soft cuboid object from a first-object perspective. The design can detect multiple contact locations and applied forces on its surface by using multiple embedded 3D Hall sensors to detect deformation relative to embedded magnets. The contact estimation is achieved by interpreting the Hall-effect signals using neural networks. In comprehensive experiments, the design achieved good performance in estimating contacts from each single face of the cuboid and decent performance in detecting contacts from multiple faces when being used to evaluate grasping from a parallel jaw gripper, demonstrating the effectiveness of the design and the feasibility of the concept.

关键词： Grasping methods and tools for robot system design soft sensors and actuators

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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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Evolving robotic Hand Morphology Through Grasping and Learning

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IEEE robotICS AND AUTOMATION LETTERS 2024年第10期9卷 8475-8482页

作者： Yang, Bangchu Jiang, Li Wu, Wenhao Zhen, Ruichen Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China

Creatures can co-evolve their biological structures and behaviors under environmental pressures. Leveraging biomimetic evolution algorithms (referred to as co-design or co-optimization), a diverse range of robots with environmental adaptation has been generated. However, implementing these evolutionary methods or results in real-world robots, especially in the case of robotic hands, was not easy. In this context, this work presents a comprehensive self-optimization scheme for robotic hands that encompasses both software and hardware components. This scheme enables robots to autonomously refine their morphology through the integration of hardware gradients and reinforcement learning within parallel environments, thereby enhancing their adaptability to a variety of grasping tasks. For the hardware aspect, we developed a reconfigurable hand prototype with 37 variable hardware parameters (i.e., joint stiffness, the length of phalanges, finger location, and palm curvature) adjusted by mechanical components. Leveraging the adjustable hardware and 20 motors, this hand achieves full actuation and can dynamically adjust its morphology. The training results indicate that the fitness score of the self-optimizing hand exceeds that of original designs in this instance. The hardware parameters can be further fine-tuned in response to task variations. Moreover, the evolved hardware parameters are transferred to a real-world reconfigurable hand, demonstrating its grasping and adaptivity capabilities.

关键词： Hardware Grasping robots Morphology Optimization Stability analysis Task analysis Evolutionary robotics deep learning in grasping and manipulation methods and tools for robot system design hardware gradient reconfigurable hand

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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 Motion Estimation Filter for Inertial Measurement Unit With On-Board Ferromagnetic Materials

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IEEE robotICS AND AUTOMATION LETTERS 2021年第3期6卷 4939-4946页

作者： Tafrishi, Seyed Amir Svinin, Mikhail Yamamoto, Motoji Kyushu Univ Dept Mech Engn Kyushu 8190167 Japan Ritsumeikan Univ Dept Informat Sci & Engn Kyoto 5258577 Japan

Magnetic distortions due to existing appliances and on-board objects with ferromagnetic materials cause serious bias and deviations in motion estimation by inertial measurement sensors with magnetometers. This problem requires a proper sensor fusion to do motion tracking with a minimal angular error. This letter presents a design of a complementary filter that compensates the strong magnetic effects of on-board ferromagnetic materials. Not only the attached permanent magnets may have serious biases on the magnetometer axes but also there is a magnetic distortion due to soft ferromagnetic materials, i.e., steel. After defining the signals of the inertial/magnetic sensors, the process and measurement models are described and a Kalman filter is constructed. The designed filter can be used for motion tracking in environments with magnetic distortions, and in robot actuators with magnetic parts. The performance of the proposed filter is verified under experiment and compared with conventional filters. Finally, we raise a question about whether the attachment of permanent magnets to inertial measurement sensors can serve as a magnetic shield improving the motion estimation.

关键词： Magnetic disturbance methods and tools for robot system design motion estimation robotics in hazardous fields sensor fusion

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design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach

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IEEE robotICS AND AUTOMATION LETTERS 2021年第2期6卷 958-965页

作者： Ludovico, Daniele Guardiani, Paolo Lasagni, Francesco Lee, Jinoh Cannella, Ferdinando Caldwell, Darwin G. Univ Genoa Dept Informat Bioengn Robot & Syst Engn I-16126 Genoa GE Italy Ist Italiano Tecnol IIT Adv Robot Dept I-16163 Genoa GE Italy Politecn Torino I-10129 Turin Italy German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany

Nowadays, robotic research focuses more and more on attaining energy-efficient and safe solutions. They are key-aspects of industrial robots, such as inspection and maintenance robots. The introduction of a mechanism that passively compensates the joint torque caused by the weight of the robot may offer a valid solution. Avoiding the need for actuators to balance gravity torques helps decrease the power consumption and the size of the actuators. Furthermore, a passive gravity compensation mechanism allows the robot to hold a static position without the need for an external power source, hence avoiding the risk of collapsing in case of failure of the actuators. This work focuses on designing a torque generator composed of a non-circular pulley and a spring, which, by solving a convex optimisation problem, offers a new methodology for creating any generic torque and thereby also succeeds in solving gravity compensation problems. This methodology guarantees the outcome of feasible non-circular pulleys which minimise the torque required to perform any specific task.

关键词： Mechanism design 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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Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories

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IEEE robotICS AND AUTOMATION LETTERS 2021年第2期6卷 1887-1894页

作者： Treers, Laura K. Cao, Cyndia Stuart, Hannah S. Univ Calif Berkeley Coll Engn Mech Engn Dept Berkeley CA 94709 USA

Modelling interaction forces as bodies intrude into granular media is a longstanding challenge in the design and control of machines that navigate and manipulate these highly complex materials. Granular Resistive Force Theory, or RFT, is a flexible, reduced-order model for predicting intrusion forces on bodies in granular media. 2D RFT describes the forces on a plate whose velocity and normal vectors lie in the same vertical plane. We introduce a 3D RFT method that projects the total velocity vector into two scenarios that can already be described by 2D RFT, which allows us to extend the model into 3D with minimal additional experimental characterization. We then superimpose these independently calculated forces, weighted by experimentally fit scaling factors, to determine the total force on the plate. When applied to discretized convex hulls, this method performs force estimates of arbitrary trajectories in 3D space. The proposed formulation predicts forces experienced by oscillating and circumnutating bodies, motions motivated by mole crab burrowing and plant root growth respectively. This method is well-suited to complement more complex computational tools, such as Discrete Element Method. By expanding the application of RFT to 3D scenarios, a broader set of real-world applications can now be analyzed.

关键词： Contact modeling dynamics methods and tools for robot system design

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