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Model Predictive control for Human Following Rehabilitation Robot

Model Predictive Control for Human Following Rehabilitation ...

引用

IEEE Workshop on advanced robotics and its Social Impacts, ARSO

作者： Shihao Yan Jing Tao Jian Huang Anshun Xue the Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Ministry of Civil Affairs of the People's Republic of China National Research Center for Rehabilitation Technical Aids Beijing China the Beijing Advanced Innovation Center of Intelligent Robots and Systems Beijing China

A new type of rehabilitation robot that can follow the user side-by-side is designed for aiding the elderly and disabled. The Human Following Rehabilitation Robot (HFRR) consists of a metal armrest, a set of sensors and a differential mobile base. By predicting the user's speed in the future through the user's current walking speed and the preset path, the problem of human following side-by-side is converted to a problem of keeping a certain lateral distance from the predicted trajectory. Linearizing the tracking error model, the nonholonomic mobile robot (NMR) can maintain a certain lateral distance from the trajectory by using Model Predictive control (MPC) and then follow the user side-by-side. The simulation and experimental results show the proposed controller can obtain good performance in this problem.

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A Low-Cost Vision-Based System for Displacement Analysis in Earthquake Research

A Low-Cost Vision-Based System for Displacement Analysis in ...

引用

RSI/ISM International Conference on robotics and Mechatronics

作者： Bijan Binaee Mahyar Khayatkhoei Hadi Moradi Amirhossein Nazemi Abdollah Hosseini Control and Intelligent Processing Center Advanced Robotics and Intelligent Systems Lab School of ECE University of Tehran Intelligent Systems Research Institute SKKU South Korea School of Civil Engineeringg College of Engineering University of Tehran

ISBN: (纸本)9781467372350

Measuring linear and angular displacement with high accuracy requires expensive equipment and may interfere with the measurements due to sensors weight and size. In this paper, we propose a low cost vision based approach for measuring linear & angular displacement that can make the earthquake research more *** keep detecting process as fast as possible and meet real-time demands, a typical marker with a peculiar color inside chooses and all instructions performed by Intel CVLib filters. So according to the tests, if the minimum requirement are met, the proposed method can detect marker up to 25 frames per second. Finally, a prototype software implemented to analysis functionality and accuracy of proposed algorithm. The results shown that this vision-based method can achieve accuracy of 0.1mm, with an off-the-shelf three pixel per millimeter, and it can be perfectly used instead of traditional instruments such as LVDT.

关键词： Rotoray-displacement tracking displacement tracking LVDT instrumentation shaking table seismology image processing

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Towards Collision Detection, Localization and Force Estimation for a Soft Cable-driven Robot Manipulator

Towards Collision Detection, Localization and Force Estimati...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yuxin Wang Hesheng Wang Fan Xu Junzhi Yu Weidong Chen Yun-Hui Liu Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Institute of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai China College of Engineering Peking University Beijing China The Chinese University of Hong Kong Hong Kong

Soft robots have been applied widely to various constrained scenarios due to the advantages over traditional rigid manipulators such as softness, deformability and adaptability to constrained surroundings. To make full use of this merit, this paper proposes a method that integrates collision detection, localization and force estimation for a cable-driven soft manipulator without any prior geometrical knowledge of its surroundings. First of all, a collision detection algorithm is presented based upon Cosserat-rod statics by a threshold method through using the cable tension and the shape information, which are obtained by the load cells and the Vicon system, respectively. Secondly, a collision localization and force estimation method is proposed through optimizing the discrepancy between the actual and the theoretical shapes. Finally, experiments are carried out to validate these algorithms. The experimental results demonstrate that the site, the magnitude as well as the direction can be estimated.

关键词： Location awareness Shape Conferences Force Estimation Soft robotics Manipulators

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Impulsive Formation control of Nonlinear Leader-Following Multi-agent systems with Input Saturation*

Impulsive Formation Control of Nonlinear Leader-Following Mu...

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Industrial Cyber-Physical systems (ICPS)

作者： Ni Zhang Xiaowei Jiang Xianhe Zhang Le You School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

Leader-following formation analysis problem for a second-order nonlinear multi-agent system(MAS) with input saturation is investigated in this paper. And the impulsive formation control algorithm is introduced in the designed protocol which only works at the impulse times. Owing to the real-world limited communication channels, input saturation is considered in the impulsive controller. Furthermore, based on Lyapunov stability theories, Kronecker properties, eigenvalue and so on, some sufficient conditions that guarantee the leader-following consensus of MAS are obtained. Lastly, several simulations are worked out to verify the correctness and effectiveness of the theoretical results.

关键词： Sufficient conditions Protocols Simulation Communication channels Cyber-physical systems control systems Formation control

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Posture Estimation and Trajectory Tracking for SQuRo: a Small-sized Quadruped Robotic Rat

Posture Estimation and Trajectory Tracking for SQuRo: a Smal...

引用

IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Junhui Gao Rongjie Du Xiaolong Quan Guanglu Jia Qiang Huang Toshio Fukuda Qing Shi School of Mechatronical Engineering Intelligent Robotics InstituteBeijing Institute of Technology Beijing China Ministry of Education >Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Ministry of Education Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China

Large quadruped robots have shown high environmental adaptability and promising applications. However, due to the difficulty of integrating multiple sensors or highperformance CPU in such a limited dimension, which strongly hindered the perception and calculation ability, quadruped robots in small scale haven’t shown equally performance. To overcome this limitation, we integrated the inertial measurement unit (IMU) into the small-sized robotic rat SQuRo, and proposed simplified control strategies to enhance its robustness. The improvements includes three parts: 1) A posture control strategy is proposed and verified by posture adjustment in a slope test; 2) Straight line tracking was achieved by detecting and controlling the yaw angle of SQuRo; 3) The autonomous fall recovery was achieved by detecting the fall and executed a predefined fall recovery strategy.

关键词： Measurement units Trajectory tracking Kinematics Inertial navigation Rats Robot sensing systems Robustness

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GPC-LIO-SAM:Lidar inertial odometry and mapping method for mobile robot with ground plane constraint

GPC-LIO-SAM:Lidar inertial odometry and mapping method for m...

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第43届中国控制会议

作者： Chong Cao Gang Peng Dingxin He Yihao Cao Yue Xu Zhang Deng School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education Engineering Research Center of Autonomous Intelligent Unmanned Systems Ministry of Education Wuhan Lisai Technology Co. Ltd.

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Due to the limitation of the vertical angle resolution of the lidar sensor,the observation information in the vertical direction is reduced,resulting in the elevation cumulative drift phenomenon of many lidar SLAM algorithms in large-scale environment,which reduces the accuracy of pose estimation and the quality of *** order to solve this problem,based on LIO-SAM,this paper proposes a lidar SLAM algorithm with ground plane *** method can effectively extract the ground point cloud and obtain the plane normal vector,and construct the constraint relationship with the prior plane normal *** optimal state estimation is solved by nonlinear optimization method,which effectively reduces the elevation drift caused by the long-term operation of the system in large-scale *** paper compares the improved algorithm with A-LOAM,LeGO-LOAM and original LIO-SAM algorithms in challenging datasets such as KITTI,M2 DGR and *** results show that this method effectively improves the accuracy of pose estimation and the quality of mapping,and limit the elevation drift of mobile robot in ground operation,which has high application value.

关键词： Ground plane constraint elevation drift LIDAR simultaneous localization and mapping(SLAM)

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State prediction approach for master-slave agents in presence of communication delay

State prediction approach for master-slave agents in presenc...

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

作者： Sona Ghahremani Majid Nili Ahmadabadi Maryam S. Mirian Babak N. Araabi Member of cognitive robotics Laboratory Department of Electrical and Compo Engineering University of Tehran Iran Control & Intelligent Processing Center of Excellence Department of Electrical and Compo Engineering University of Tehran Iran Robotics and Machine Intelligence Department of Electrical and Compo Engineering University of Tehran Iran

Teleoperation is a mechanism that makes it possible to accomplish a task in an environment where the presence of the master at the slave site is either undesirable or hardly possible The communication delay is a challenge with undesirable effects, jeopardizing the teleoperated systems the most. When the salve agent is performing in a dynamically changing environment, communication delay can be very harmful since the environment is changing continuously even though the agent has stopped operating because of the delay. Many studies have been conducted to overcome time delay effects.

关键词： Robots Predictive models Switches Communications technology Delays

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Motion Analysis and Experiment of Sheet Small Magnetron Soft Robot

Motion Analysis and Experiment of Sheet Small Magnetron Soft...

引用

IEEE International Conference on control Science and systems Engineering (CCSSE)

作者： Haoyun Ma Pan Zhang Jundong Wu Yawu Wang School of Automation China University of Geosciences Wuhan Hubei China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan Hubei China

In the past, most robots used rigid structures. With the development of intelligent materials, more and more soft materials began to be used in the manufacture of robots. Magnetic-driven soft robot is one of its important branches. Because of the flexibility of magnetoelastic composite robots and the harmlessness of magnetic field to human body, a magnetically-controlled soft robot has broad application prospects in medical fields such as disease diagnosis and treatment in human body. A small lamellate magnetic soft robot is designed in this paper with the advantages of small volume, light weight, high deformation, fast and simple manufacture. And it can be driven without wire under the control of the magnetic field formed by the three-dimensional Helmholtz coil. The robot can walk and crawl on the surface of magnetically-controlled. The motion characteristics of the magnetic soft robot such as crawling step length and bending height are analyzed. The data are collected through experiments to analyze the relationship between the control signal and the motion characteristics.

关键词： Legged locomotion Manufacturing processes Force Wires Soft robotics control systems systems engineering and theory

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Multimodal Information-Based Broad and Deep Learning Model for Emotion Understanding

Multimodal Information-Based Broad and Deep Learning Model f...

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第40届中国控制会议

作者： Min Li Luefeng Chen Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer Engineering University of Alberta Tokyo Institute of Technology

Multimodal information-based broad and deep learning model（MIBDL） for emotion understanding is proposed, in which facial expression and body gesture are used to achieve emotional states recognition for emotion understanding. It aims to understand coexistence multimodal information in human-robot interaction by using different processing methods of deep network and broad network, which obtains the features of depth and width dimensions. Moreover, random mapping in the initial broad learning network could cause information loss and its shallow layer network is difficult to cope with complex tasks. To address this problem, we use principal component analysis to generate the nodes of the broad learning, and the stacked broad learning network is adapted to make it easier for the existing broad learning networks to cope with complex tasks by creating deep variations of the existing network. To verify the effectiveness of the proposal, experiments completed on benchmark database of spontaneous emotion expressions are developed, and experimental results show that the proposal outperforms the state-of-theart methods. According to the simulation experiments on the FABO database, by using the proposed method, the multimodal recognition rate is 17,54%, 1.24%, and 0.23% higher than those of the temporal normalized motion and appearance features（TN）,the multi-channel CNN（MCCNN）, and the hierarchical classification fusion strategy（HCFS）, respectively.

关键词： Convolution neural network broad learning emotion understanding facial expression body gesture

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Phenomenological Modeling and End-Point Trajectory Tracking control of a Flexible Beam with Pneumatic Soft Actuators

Phenomenological Modeling and End-Point Trajectory Tracking ...

引用

IEEE International Conference of intelligent Robotic and control Engineering (IRCE)

作者： Xuefeng Sun Qingxin Meng Jundong Wu Mingliang Zhu School of Automation China University of Geosciences Wuhan Hubei China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan Hubei China

As the basic construction of flexible mechanical systems, the flexible beam and its control problem have attracted widespread attention in recent years. This paper takes a flexible beam with pneumatic soft actuators (FBPSA) as the research object and studies its phenomenological modeling and end-point trajectory tracking control strategy. Firstly, we develop an experimental platform for the FBPSA and perform tests on it, gathering its input and output data. Using these collected data, we analyzed the motion characteristics of the FBPSA. Subsequently, a phenomenological model is established to describe the motion characteristics of the system, and the parameters of this model are identified through a large amount of the collected experimental data. Then, a combined feedforward-feedback control strategy is proposed to achieve the end-point trajectory tracking control of the system. Finally, three sets of experiments are carried out to verify the accuracy of the established model and the effectiveness and superiority of the control strategy.

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