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IEEE-RAS International Conference on Humanoid Robots

作者： Konrad Fründ Fabian Beck Anton Shu Florian Loeffl Jinoh Lee Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Yuseong-gu Daejeon Republic of Korea

The field of humanoid robots has grown in recent years with several companies and research laboratories developing new humanoid systems. However, the number of running robots did not noticeably rise. Despite the need for fast locomotion to quickly serve given tasks, which require traversing complex terrain by running and jumping over obstacles. To provide an overview of the design of humanoid robots with bioinspired mechanisms, this paper introduces the fundamental functions of the human running gait. The paper surveys multiple concepts, i.e. to protect the system against impacts, store kinetic energy at touchdown, use natural dynamics, and transfer energy between joints through couplings. The understanding of the fundamental functions can support engineers to design versatile humanoid robots, without sacrificing versatility against capability.

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Parameter-Sharing-Based Average-Consensus Time Synchronization in IoT Networks

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IEEE Internet of Things Journal 2023年第9期10卷 8215-8227页

作者： Shi, Fanrong Yang, Simon X. Mukherjee, Mithun Jiang, Hong Da Costa, Daniel Benevides Wong, Wing-Kwong Southwest University of Science and Technology Robot Technology Used for Special Environment Key Laboratory of Sichuan Province School of Information Engineering Mianyang621010 China School of Engineering University of Guelph Advanced Robotics and Intelligent Systems Laboratory GuelphONN1G 2W1 Canada Nanjing University of Information Science and Technology School of Artificial Intelligence School of Future Technology Nanjing210044 China Technology Innovation Institute Abu Dhabi United Arab Emirates National Yunlin University of Science and Technology Future Technology Research Center Douliu64002 Taiwan

Average-consensus protocol is one of the ways to develop distributed time-synchronization algorithms in Internet of Things (IoT) networks. However, the large number of iteration leads to a common time notion issue in nodes. This poses a critical challenge in the convergence of the time-synchronization algorithm and resulting asymptotic convergence in the average consensus protocol. In this article, a parameter-sharing-based average-consensus time-synchronization (PACTS) algorithm is proposed. For fast convergence, the proposed PACTS quickly forwards the time information to multihop nodes and employs multihop average-consensus instead of single-hop average consensus. Specifically, a node asynchronously and periodically broadcasts the relative clock offset estimation of neighbors with its local time information. Meanwhile, the relative clock offset estimation of the multihop node is calculated and used to estimate the average value. Consequently, an average consensus among local multihop nodes is obtained. As a result, the iteration number and convergence time are significantly reduced over the network. Finally, the experimental results indicate that the proposed PACTS algorithm has low complexity, high accuracy, and quick convergence. © 2023 IEEE.

关键词： Topology

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6DoF-ICTC: A Deep Image Feature Extraction Network Combining Transformers and CNNs for 6DoF Pose Estimation 12

6DoF-ICTC: A Deep Image Feature Extraction Network Combining...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022

作者： Zhang, Liming Zhou, Xin Zhu, Baixian Wang, Can Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China University of Science and Technology of China China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In this work, we propose a new image feature extraction network for 6D pose estimation tasks. The majority of existing 6D pose estimation networks are based on the RGBD input, which is the fusion of images and point clouds. They are mainly working on keypoint extraction, point cloud feature extraction, and other tasks, however, image features, on the other hand, mainly rely on CNN networks that are currently advanced. With the development of Vision Transformer in the field of computer vision, the results on ImageNet demonstrate its benefit of extracting global features, and we see new directions that the Transformers can bring to the area of image feature extraction. ICTC is a Transformer paired with a CNN network that fuses the retrieved global features into each pixel and then does local feature extraction. This provides greater robustness to 6D pose estimation In complex situations such as shifting lighting conditions and object occlusion. Our method achieves 96% accuracy using the average ADD metric on the LineMOD dataset, demonstrating our method's effectiveness. © 2022 IEEE.

关键词： Feature extraction

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Grating‐like anechoic layer for broadband underwater sound absorption

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International Journal of Mechanical System Dynamics 2022年第3期2卷 265-277页

作者： Chenlei Yu Mingyu Duan Wei He Xin Chen Fengxian Xin Tian J.Lu State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace EngineeringXi'an Jiaotong UniversityXi'anChina MOE Key Laboratory for Multifunctional Materials and Structures School of Aerospace EngineeringXi'an Jiaotong UniversityXi'anChina Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijingChina Xi'an Modern Chemistry Research Institute Xi'anChina State Key Laboratory for Mechanics and Control of Mechanical Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina MIIT Key Laboratory of Multifunctional Lightweight Materials and Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina

To address the challenging task of effective sound absorption in the low and broad frequency band for underwater structures,we propose a novel grating‐like anechoic layer by filling rubber blocks and an air backing layer into metallic *** metallic gratings are incorporated into the anechoic layer as a skeleton for enhanced viscoelastic dissipation by promoting shear deformation between rubber and metal *** introduction of an air backing layer releases the bottom constraint of the rubber,thus intensifying its deformation under acoustic *** on the homogenization method and the transfer matrix method,a theoretical model is developed to evaluate the sound absorption performance of the proposed anechoic layer,which is validated against finite element simulation *** is demonstrated that a sound absorption coefficient of the grating‐like anechoic layer of 0.8 can be achieved in the frequency range of 1294-10000 *** the importance of sound absorption at varying frequencies,the weighted average method is subsequently used to comprehensively evaluate the performance of the anechoic ***,with structural density taken into consideration,an integrated index is proposed to further evaluate the acoustic properties of the proposed anechoic ***,the backing conditions and the boundary conditions of finite‐size structures are *** results provide helpful theoretical guidance for designing novel acoustic metamaterials with broadband low‐frequency underwater sound absorption.

关键词： underwater sound absorption broadband transfer matrix method rubber coating

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Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position

arXiv

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arXiv 2022年

作者： Chatziandreou, Evangelos Mathews, Chase W. Braun, David J. Advanced Robotics and Control Laboratory Center for Rehabilitation Engineering and Assistive Technology Department of Mechanical Engineering Vanderbilt University NashvilleTN37235 United States

In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox assembly. The novel component of the actuator is the equilibrium adjusting mechanism which (i) does not require external energy to maintain the equilibrium position of the actuator even if the spring is deformed and (ii) enables equilibrium position control with low energy cost by rotating the spring while keeping it undeformed. Adjustable equilibrium parallel elastic actuators resolve the main limitation of parallel elastic actuators (PEAs) by enabling energy-efficient operation at different equilibrium positions, instead of being limited to energy-efficient operation at a single equilibrium position. We foresee the use of AE-PEAs in industrial robots, mobile robots, exoskeletons, and prostheses, where efficient oscillatory motion and gravity compensation at different positions are required. © 2022, CC BY-NC-ND.

关键词： Actuators

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

Trajectory Planning for Minimizing Floating Pedestal Disturb...

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第43届中国控制会议

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

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

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 *** 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 *** results demonstrate that the proposed method effectively reduces the base disturbance while ensuring the positioning accuracy of the end-effector.

关键词： trajectory planning space dual-arm robot multi-objective optimization fmincon

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Aggregating Single-Wheeled Mobile Robots for Omnidirectional Movements

Aggregating Single-Wheeled Mobile Robots for Omnidirectional...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Meng Wang Yao Su Hang Li Jiarui Li Jixiang Liang Hangxin Liu National Key Laboratory of General Artificial Intelligence Beijing Institute for General Artificial Intelligence (BI-GAI) Department of Advanced Manufacturing and Robotics College of Engineering Peking University Department of Robot Engineering School of Automation Science and Electrical Engineering Beihang University

This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is shaped as a regular icositetragon with a permanent magnet installed on each corner for stable docking. After aggregating multiple modules and forming a structure that can cage a target object, we have developed an optimization-based method to compute the distribution of all wheels' heading directions, which enables efficient omnidirectional movements of the structure. By implementing a hierarchical controller on our prototyped system in both simulation and experiment, we validated the trajectory tracking performance of an individual module and a team of six modules in multiple navigation and collaborative object transportation settings. The results demonstrate that the proposed system can maintain a stable caging formation and achieve smooth transportation, indicating the effectiveness of our hardware and locomotion designs.

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Aligning Objects as Preprocessing Combined with Imitation Learning for Improved Generalization

Aligning Objects as Preprocessing Combined with Imitation Le...

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International Conference on Control and Robots (ICCR)

作者： Mücahid Barstuğan Shimpei Masuda Ryusuke Sagawa Fumio Kanehiro Department of Electrical and Electronics Engineering Konya Technical University Konya Türkiye CNRS-AIST JRL (Joint Robotics Laboratory) IRL National Institute of Advanced Industrial Science and Technology Tsukuba Japan Artificial Intelligence Research Center National Institute of Advanced Industrial Science and Technology Tsukuba Japan

ISBN: (数字)9798331518158

ISBN: (纸本)9798331518165

Imitation learning method transfers human behavior to the robots or machines. This method aims to allow robots or machines to learn by observing tasks performed by human operators and imitating these tasks, rather than direct programming. ACT as an imitation learning method shows the high capability for automating dexterous manipulation tasks. From the viewpoint of industrial application, pose of the target object will be varied. However, even if only for the initial object pose variation, imitation learning method like ACT usually needs a lot of demonstration data that covers pose variation to train the policy that can generalize for. Collecting large demonstration dataset takes many efforts. This study created an object pick-and-place controller to eliminate pose variation as a preprocess step with YOLOv8, which is a recent object detection technique. The preprocess step automatically moves the object to a specific position and eliminates the pose variation. We show that our system effectiveness on the randomly placed bag opening task that requires both generalization for object pose variation and dexterous bimanual manipulation. The bag opening task was conducted with ACT and preprocess applied ACT methods, and the results were evaluated to examine the effect of the preprocess method to generalization process.

关键词： Service robots Imitation learning Object detection Programming Behavioral sciences

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Development of an in vitro perfusable neural interface model for sequential connection of nerve cells

Development of an in vitro perfusable neural interface model...

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Menghua Liu Huaping Wang Qing Shi Yaozhen Hou Jiaxin Liu Tao Sun Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Neural interface models based on microfluidic chips are widely used in the regeneration of neural interfaces in vitro for their low cost, simple structure and accurate simulation of complex interactions between cells and the extracellular environment. However, due to the lack of influence of the dynamic flow environment, it is difficult to realize the reduction of cell culture and the cell growth environment for a long time while forming sequential connections between cells. Here,we propose an in vitro perfusable culture chip as a neural interface for neuroblastoma cells (SH-SY5Y cells) to realize sequential cell connection under dynamic perfusion and physical guidance. A microfluidic chip with physical guidance was fabricated based on soft lithography. The microfluidic chip can realize long-term cell culture under dynamic perfusion conditions by an automatic perfusion system in vitro. The interior of the microfluidic chip is optimized to provide physical cues for SH-SY5Y cells to construct nerve conduction microunits. The microfluidic chip has great potential in the research of in vitro neural interface regeneration models in dynamic complex environments.

关键词： Soft lithography Costs Biological system modeling Neurons In vitro Extracellular Microfluidics

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Design and Control of an Omnidirectional Aerial Robot with a Miniaturized Haptic Joystick for Physical Interaction

Design and Control of an Omnidirectional Aerial Robot with a...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Julien Mellet Andrea Berra Salvatore Marcellini Miguel Ángel Trujillo Soto Guillermo Heredia Fabio Ruggiero Vincenzo Lippiello Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Leonardo Innovation Labs Rome Italy GRVC Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

Fully actuated aerial robots have shown superiority in Aerial Physical Interaction (APhI) in recent years. This work presents a minimal setup for aerial telemanipulation, improving accessibility to such technologies. The design and control of a 6-Degrees of Freedom (DoF) joystick with 4-DoF haptic feedback are detailed. It is the first haptic device with standard Remote Controller (RC) form factor for APhI. Miniaturizing the haptic device adds sense of touch to RC, enhancing physical awareness. The goal is to provide operators with an extra sense-beyond vision and sound-to support safe APhI. To the best of the authors' knowledge, this is the first 6- DoF aerial teleoperation system capable of decoupling single-axis input commands. The proposed robot hardware design reduces number of components, aiming for easier maintenance and improved force and thrust-to-weight ratios. Open-source physics-based simulation and successful early flight tests high-light the tool's promise for future APhI applications.

关键词： Translation Shape Autonomous aerial vehicles Robot sensing systems Hardware Stability analysis Software Haptic interfaces Maintenance Standards

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