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An Expressiveness Hierarchy of Behavior Trees and Related Architectures

IEEE robotICS AND AUTOMATION LETTERS 2021年第3期6卷 5397-5404页

作者： Biggar, Oliver Zamani, Mohammad Shames, Iman Def Sci & Technol Grp Land Div Fishermans Bend 3207 Australia Australian Natl Univ Sch Engn Canberra ACT 2601 Australia

In this letter, we provide a formal framework for comparing the expressive power of Behavior Trees (BTs) to other action selection architectures. Taking inspiration from the analogous comparisons of structural programming methodologies, we formalise the concept of 'expressiveness'. This leads us to an expressiveness hierarchy of control architectures, which includes BTs, Decision Trees (DTs), Teleo-reactive Programs (TRs) and Finite State Machines (FSMs). By distinguishing between BTs with auxiliary variables and those without, we demonstrate the existence of a trade-off in BT design between readability and expressiveness. We discuss what this means for BTs in practice.

关键词： Control architectures and programming methods and tools for robot system design software architecture for robotic and automation

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A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto robots With Kinematic Loops

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IEEE robotICS AND AUTOMATION LETTERS 2021年第2期6卷 943-950页

作者： Schumacher, Christian Knoop, Espen Bacher, Moritz Disney Res Stampfenbachstr 48 CH-8006 Zurich Switzerland

robots with kinematic loops are known to have superior mechanical performance. However, due to these loops, their modeling and control is challenging, and prevents a more widespread use. In this letter, we describe a versatile Inverse Kinematics (IK) formulation for the retargeting of expressive motions onto mechanical systems with loops. We support the precise control of the position and orientation of several end-effectors, and the Center of Mass (CoM) of slowly walking robots. Our formulation safeguards against a disassembly when IK targets are moved outside the workspace of the robot, and we introduce a regularizer that smoothly circumvents kinematic singularities where velocities go to infinity. With several validation examples and three physical robots, we demonstrate the versatility and efficacy of our IK on overactuated systems with loops, and for the retargeting of an expressive motion onto a bipedal robot.

关键词： robots Kinematics robot kinematics Actuators Legged locomotion Mechanical systems Parallel robots Kinematics methods and tools for robot system design parallel robots

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The robotarium: Automation of a Remotely Accessible, Multi-robot Testbed

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IEEE robotICS AND AUTOMATION LETTERS 2021年第2期6卷 2922-2929页

作者： Wilson, Sean Glotfelter, Paul Mayya, Siddharth Notomista, Gennaro Emam, Yousef Cai, Xiaoyi Egerstedt, Magnus Georgia Inst Technol Georgia Tech Res Inst Robot & Autonomous Syst Div Atlanta GA 30332 USA Optimus Ride Watertown MA USA Univ Penn GRASP Lab Philadelphia PA 19104 USA CNRS Inria IRISA F-35042 Rennes France Georgia Inst Technol Inst Robot & Intelligent Machines Atlanta GA 30308 USA MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA

The cost, in terms of both time and money, of instantiating a physical testbed can be prohibitive. To help resolve this issue, the robotarium offers a free, remotely accessible robotics lab to users around the world. Since allowing the general public to use it, hundreds of users have submitted thousands of experiments. The current and accelerating experiment submission rate poses an operational challenge that cannot be handled through manual or human supervised execution without devoting a full time operator to the platform. A solution to this problem is enable the robotarium to operate autonomously: improving the robustness and reliability of the system while reducing required human intervention to diagnose and recover from failures. In this pursuit, the hardware, software, and algorithms deployed on the robotarium have undergone numerous developments, including a new differential-drive robot, the use of modern virtualization techniques for the software infrastructure, and the inclusion of robust constraint-satisfaction methods for long-term safe operation. Over the past year of autonomous operation, these advances have resulted in 0.76% of the 3402 submitted remote experiments failing and requiring human intervention to recover from. This paper details these development efforts and best practices that have been learned automating a remote-access testbed to keep up with the experimental demand of a large, active, and growing userbase.

关键词： Collision avoidance methods and tools for robot system design multi-robot systems robot safety

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Transferability in the Automatic Off-Line design of robot Swarms: From Sim-to-Real to Embodiment and design-Method Transfer Across Different Platforms

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IEEE robotICS AND AUTOMATION LETTERS 2024年第3期9卷 2758-2765页

作者： Kegeleirs, Miquel Ramos, David Garzon Hasselmann, Ken Garattoni, Lorenzo Francesca, Gianpiero Birattari, Mauro Univ libre Bruxelles IRIDIA B-1050 Brussels Belgium Royal Mil Acad B-1000 Brussels Belgium Toyota Motor Europe B-1140 Brussels Belgium

Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission to be accomplished by the swarm, and an optimization process generates suitable control software for the individual robots through computer-based simulations. Most relevant literature has focused on effectively transferring control software from simulation to physical robots. Here, we investigate 1) whether the design methods that generate control software are transferable across robot platforms and 2) whether control software generated via such methods is itself transferable. We experiment with two ground mobile platforms with equivalent functional capabilities. Our measure of transferability is based on the performance drop observed when control software and/or design methods are ported from one platform to another. Results indicate that, while the control software generated via automatic design is possibly transferable, better performance can be achieved when a transferable method is directly applied to the new platform.

关键词： Automatic design swarm robotics transferability methods and tools for robot system design evolutionary robotics

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Reconfigurable, Multi-Material, Voxel-Based Soft robots

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IEEE robotICS AND AUTOMATION LETTERS 2023年第3期8卷 1255-1262页

作者： Legrand, Julie Terryn, Seppe Roels, Ellen Vanderborght, Bram Vrije Univ Brussel Robot & Multibody Mech R&MM Res Grp B-1050 Brussels Belgium Imec B-1050 Brussels Belgium

Voxel-based robots are aggregations of soft and simple building blocks that have been extensively evolved and simulated to perform various tasks, like walking, jumping or swimming. However, real-life voxel-based robots are rather scarce because of their challenging design and assembly. With the current materials and assembling methods, the interfaces between the soft multi-material voxels are prone to failure. This work proposes to make voxels out of reversible Diels-Alder polymers, which are available in a broad range of mechanical properties. By doing so, the covalent bonds at the multi-material interface ensure strong chemical connections, while allowing for reconfiguration. A first voxel-based gripper is thus robustly assembled, then disassembled, using its pieces (voxels) for reassembling another robot, i.e. a voxel-based walking robot. This reconfigurable property allows iterative validation of the simulated voxel-based robots and fine-tuning of the simulations parameters in a sustainable and economical way. Both physical voxel-based robots show similar behaviors as their simulations with root-mean-square errors down to 10.4%.

关键词： Plastics Legged locomotion robot kinematics Soft robotics Grippers Heating systems Faces Evolutionary robotics methods and tools for robot system design soft robot materials and design

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The robotarium: A Remotely-Accessible, Multi-robot Testbed for Control Research and Education

IEEE OPEN JOURNAL OF CONTROL SYSTEMS

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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 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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