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Experimental Study on the Improvement of Yaw Stability by Coordination Control between the Caudal Fin and Anal Fin

Journal of Bionic engineering 2022年第5期19卷 1261-1271页

作者： Jiang Ding Changzhen Zheng Chaocheng Song Qiyang Zuo Yaohui Xu Bingbing Dong Jiaxu Cui Kai He Fengran Xie College of Mechanical Engineering Guangxi UniversityNanning 530004China Guangxi Key Lab of Manufacturing System and Advanced Manufacturing Technology Nanning 530004China Shenzhen Institute of Advanced Technology Chinese Academy of SciencesShenzhen 518055China Shenzhen Key Laboratory of Precision Engineering Shenzhen 518055China University of Chinese Academy of Sciences Beijing 100049China College of Mechanical Automation Wuhan University of Science and TechnologyWuhan 430000China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen 518055China

Due to the unique locomotion,the head-shaking problem of biomimetic robotic fish inevitably occurs during rectilinear locomotion,which strongly hinders its practical *** this paper,we experimentally study this problem by proposing the method of coordination control between the caudal fin and anal ***,an untethered biomimetic robotic fish,equipped with an anal fin,a caudal fin and two pectoral fins,is developed as the experimental ***,a Central Pattern Generator(CPG)-based controller is used to coordinate the motions of the anal fin and caudal ***,extensive experiments are conducted to explore different combinations of the flapping frequencies,the flapping amplitudes,and the phase differences between the anal fin and caudal ***,through proper control of the anal fin,the amplitude of the yaw motion can be as small as 4.32°,which sees a 65%improvement compared to the scenario without anal fin,and a 57%improvement compared to that with a stationary anal *** paper provides a novel way to alleviate the head-shaking problem for biomimetic robotic fish,and first test this method on an untethered,freely swimming robotic platform,which can shed light on the development of underwater robotics.

关键词： Biomimetic robotic fish Anal fin Head-shaking Yaw stability

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A Variable-speed Silent Speech Recognition Method based on Surface Electromyography Signal 8

A Variable-speed Silent Speech Recognition Method based on S...

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8th IEEE International Conference on advanced robotics and Mechatronics, ICARM 2023

作者： Liang, Sui Xu, Yin Yuan, Zhaohua Sun, Lining Li, Weida Zhang, Hongmiao School of Mechanical and Electric Engineering Soochow University Suzhou215021 China Zoomlion Heavy Industry Science and Technology Co. Ltd Suzhou215021 China Soochow University Jiangsu Provincial Key Laboratory of Advanced Robotics Suzhou215021 China

ISBN: (纸本)9798350300178

In the practical implementation of silent speech recognition based on surface electromyography (sEMG) signal, the change in the subjects' speech speed will affect the recognition performance. To mitigate this effect, a silent speech recognition method based on dynamic time warping (DTW) algorithm is proposed in this paper. Specifically, the facial sEMG signals of 22 Chinese words are collected, the energy threshold method is used to detect the active segment, the root mean square feature is extracted, and finally the DTW algorithm is used for recognition. The experimental results show that the method is robust to silent speech recognition tasks with different speech speeds. The average accuracy of using the DTW algorithm to classify uniform-speed words is 94.55%, and that of variable-speed words is 71.82%. In addition, the proposed method is suitable for few samples learning, which means it can quickly adapt to new tasks and individuals. These findings provide a novel way for the practical application of sEMG based silent speech recognition. © 2023 IEEE.

关键词： Speech recognition

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Human-Like Robot Impedance Regulation Skill Learning from Human-Human Demonstrations

arXiv

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arXiv 2025年

作者： Li, Chenzui Wu, Xi Liu, Junjia Teng, Tao Chen, Yiming Calinon, Sylvain Caldwell, Darwin Chen, Fei Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Idiap Research Institute Martigny Switzerland Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa16163 Italy

Humans are experts in collaborating with others physically by regulating compliance behaviors based on the perception of their partners’ states and the task requirements. Enabling robots to develop proficiency in human collaboration skills can facilitate more efficient human-robot collaboration (HRC). This paper introduces an innovative impedance regulation skill learning framework for achieving HRC in multiple physical collaborative tasks. The framework is designed to adjust the robot compliance to the human partner’s states while adhering to reference trajectories provided by human-human demonstrations. Specifically, electromyography (EMG) signals from human muscles are collected and analyzed to extract limb impedance, representing compliance behaviors during demonstrations. Human endpoint motions are captured and represented using a probabilistic learning method to create reference trajectories and corresponding impedance profiles. Meanwhile, an LSTM-based module is implemented to develop task-oriented impedance regulation policies by mapping the muscle synergistic contributions between two demonstrators. Finally, we propose a whole-body impedance controller for a human-like robot, coordinating joint outputs to achieve the desired impedance and reference trajectory during task execution. Experimental validation was conducted through a collaborative transportation task and two interactive Tai Chi pushing hands tasks, demonstrating superior performance from the perspective of interactive forces compared to a constant impedance control method. Copyright © 2025, The Authors. All rights reserved.

关键词： Electromyography

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Trajectory Planning for Minimizing Floating Pedestal Disturbance of Spatial Dual-Arm Robots 43

Trajectory Planning for Minimizing Floating Pedestal Disturb...

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43rd Chinese Control Conference, CCC 2024

作者： Zhang, Hui Zuo, Xiaozhong Zhang, Wei Gao, Sheng Shenyang Jianzhu University College of Electrical and Control Engineering Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China China-Portugal Belt and Road Joint Laboratory on Space & Sea Technology Advanced Research Shanghai200120 China

ISBN: (纸本)9789887581581

This paper addresses the trajectory planning problem of a spatial dual-arm robot and proposes a method to minimize the floating pedestal perturbation using a nonlinear planning method. The joint angle of the dual-arm robot is the optimization variable, and the positioning accuracy of the end-effector and the pedestal disturbance are the optimization objective and constraints, respectively. A constrained multi-objective optimization problem is formulated, and the kinematic model of the robot is established by parameterizing the joint trajectory. A penalty factor and a collision detection mechanism are applied to ensure the safety of the planning process. A nonlinear planning method is used to solve the optimization problem and obtain the optimal joint trajectory of the dual-arm robot. Simulation results demonstrate that the proposed method effectively reduces the base disturbance while ensuring the positioning accuracy of the end-effector. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： End effectors

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Mechanism Improvement of RoboWalk Rehabilitation Device to Adjust the Assistive Force Direction

Mechanism Improvement of RoboWalk Rehabilitation Device to A...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Shahin Naeemi Omid Mahdizadeh S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

The growing need for assistive and rehabilitative robots requires more understanding of interactions between the human and such robots. RoboWalk is one of such robotic assistive devices to help users in walking. One of the challenges in using RoboWalk is the horizontal component which undesirably appears besides the desirable assistive vertical force for weight compensation. This horizontal component can disrupt the user’s gait and cause discomfort and stability disturbances. This is due to the fact that the current design of RoboWalk does not allow for any displacement due to the singularity of the robot’s inverse kinematics. This paper proposes a few solutions to solve this problem in redesigning the motion mechanism. Analyses using Adams software show the effects of each solution on enhancing RoboWalk’s functionality. Obtained results reveal that the proposed solutions are feasible and have the potential to significantly improve the user experience.

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A Spiral Coverage Path Planning Algorithm for Nonomnidirectional Robots

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Journal of Field robotics 2025年第0期

作者： Hou, Taogang Li, Jiaxin Pei, Xuan Wang, Hao Liu, Tianhui Institute of Advanced Control Systems School of Automation and Intelligence Beijing Jiaotong University Beijing Beijing China Institute of Robotics School of Mechanical Engineering and Automation Beihang University Beijing Beijing China

The limited steering capabilities of nonomnidirectional robots introduce significant complexity into complete coverage tasks, often leading to increased path overlap or incomplete coverage of certain areas. Although recent research has made progress in optimizing coverage path planning, redundant coverage or omissions are still prone to occur in the target area to be covered. To address these persistent challenges, we propose a novel spiral coverage method. This approach not only conforms to the kinematic constraints of nonomnidirectional robots but also enhances coverage efficiency by dividing the target area into center and boundary regions and devising tailored coverage strategies for each. This method effectively reduces path redundancy and improves overall area coverage. Furthermore, we introduce a comprehensive metric that combines total path length and area coverage ratio to evaluate coverage efficiency, overcoming the limitations and computational complexity associated with existing metrics. For scenarios where maximizing the area coverage ratio is critical, we have developed a high-coverage-rate turning strategy that ensures 100% coverage. Through simulation tests in six representative areas and actual experiments on airport runways, our method shows an improvement of 0.238%–14.538% in coverage efficiency compared with parallel coverage method and 60.548%–76.339% compared with deep reinforcement learning-based method. Additionally, implementing high-coverage-rate turning strategies improves the area coverage ratio by 2.021%–6.732%. In field experiments, our method reduces execution time by 1.61% compared with parallel coverage method. These results show that our method has a significant effect in improving coverage efficiency and achieving complete coverage goals. © 2025 Wiley Periodicals LLC.

关键词： Robot programming

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A Comparative Study on Control Performance of LADRC and PI Controllers for Servo Applications 10

A Comparative Study on Control Performance of LADRC and PI C...

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10th IEEE International Power Electronics and Motion Control Conference, IPEMC 2024 ECCE Asia

作者： Li, Xinyu Xia, Liang Feng, Wei Chen, Yidong Huang, Shijun Gong, Liming Sun, Tianfu Yanshan University School of Mechanical Engineering Qinhuangdao China Chongqing Robotics Institute Chongqing China Shenzhen Institute of Advanced Technology Shenzhen China Shenzhen Zhaowei Machinery & Electronics Co..Ltd. Shenzhen China Midea Group Corporate Research Center Motors and Drives Center Foshan China

ISBN: (纸本)9798350351330

The Active Disturbance Rejection Controller (ADRC) stands out for its independence from precise mathematical models of controlled systems, offering attributes like minimal overshoot and robustness. However, its incorporation of nonlinear functions complicates parameter adjustment. To address this, linear ADRC (LADRC) emerges as a linearized variant. In this paper, we explore the application of LADRC theory in controlling Permanent Magnet Synchronous Motor servo systems. Specifically, controllers for the current loop, speed loop, and position loop are designed and compared. Simulation results demonstrate that the LADRC-based servo system exhibits superior dynamic and steady-state performance, robustness against interference, and simplified tuning procedures. © 2024 IEEE.

关键词： Servomechanisms

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Compliance Control and Simulation of a Next-Generation Chewing Robot 42

Compliance Control and Simulation of a Next-Generation Chewi...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Xudong Xu, Weiliang Dhupia, Jaspreet Bronlund, John Han, Jianda The University of Auckland Department of Mechanical & Mechatronics Engineering Auckland New Zealand School of Food and Advanced Technology Massey University Palmerston North New Zealand Reddit Institute Palmerston North New Zealand Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin China

ISBN: (纸本)9789887581543

The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and couldn't behave like a human. However, to make the chewing robots more bin-mimic, force feedback based closed loop control is required. To improve the efficiency of the in-vitro chewing experiments, a next generation chewing robot with cam-follower based multi-chambers was developed previously, which can be used test the effect of different chewing parameters on the chewing performance and food texture changes simultanously. In this paper, modified admittance control based on the force feedback was applied to the chewing robot. At first, to improve food particle size reduction to a distribution which closely matches that produced by human and protect the components of the robot from breakage or impact damage, a spring mass based system, called remote center compliance (RCC), was developed and applied to the robot to control the chewing force. Then, based on the knowledge of human chewing process, power-based algorithm, and modified admittance control method were used as the feedback to adjust the angular velocity of the motor and corresponding chewing velocity of the teeth. The performance of the control model was also simulated, results showed that the model is reliable to control the robot and make it bio-mimic. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Compliance control

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Improved Aerodynamic Performance of Ornithopter Aerial Robot Using Spatial Mechanism Compared to Planar Design

Improved Aerodynamic Performance of Ornithopter Aerial Robot...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sina Hallajian S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

Ornithopter’s research can be categorized into two parts. First, aerodynamics analysis of the flying robot including designing the body and choosing the robot’s material based on the analysis. Second, design and analysis of the mechanism which makes the wings move. So far, most of the researches has been focused on the first subject, i. e., aerodynamics analysis; even some books were published on this topic. However, there is little research about the mechanisms while most of the previous works are based on the patterns verified before. This paper will propose the design of a new spatial mechanism. Besides, three common planar mechanisms will be modeled and simulated to analyze and compare to the proposed mechanism in terms of aerodynamics forces for one wing beat cycle. These results reveal that the proposed 3D mechanism works more promising than others.

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WorldGen: A Large Scale Generative Simulator

WorldGen: A Large Scale Generative Simulator

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chahat Deep Singh Riya Kumari Cornelia Fermüller Nitin J. Sanket Yiannis Aloimonos Perception and Robotics Group University of Maryland Institute for Advanced Computer Studies University of Maryland College Park MD USA Robotics Engineering Worcester Polytechnic Institute MA USA

In the era of deep learning, data is the critical determining factor in the performance of neural network models. Generating large datasets suffers from various challenges such as scalability, cost efficiency and photorealism. To avoid expensive and strenuous dataset collection and annotations, researchers have inclined towards computer-generated datasets. However, a lack of photorealism and a limited amount of computer-aided data has bounded the accuracy of network predictions. To this end, we present WorldGen - an open source framework to automatically generate countless structured and unstructured 3D photorealistic scenes such as city view, object collection, and object fragmentation along with its rich ground truth annotation data. WorldGen being a generative model gives the user full access and control to features such as texture, object structure, motion, camera and lens properties for better generalizability by diminishing the data bias in the network. We demonstrate the effectiveness of WorldGen by evaluating deep optical flow. We hope such a tool can open doors for future research in a myriad of domains related to robotics and computer vision by reducing manual labor and cost for acquiring rich and high-quality data.

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