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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Suthisomboon, Tachadol Phodapol, Sujet Pairam, Thipawan Phongaksorn, Kitti Asawalertsak, Naris Kriengkomol, Pakpoom Jitnaknan, Tanapoom Janbanjong, Petch Manoonpong, Poramate Bio-Inspired Robotics and Neural Engineering Laboratory School of Information Science and Technology Thailand Thailand Thailand

ISBN: (纸本)9798331531614

This short paper with a video demonstration presents an add-on adaptive speed control module designed for pipeline inspection gauges (PIGs). The module integrates multiple sensors, a rotary valve unit with an actuator, and an embedded controller. The module's speed control is realized by adjusting the valve angle (morphological adaptation), which modulates bypass flow and, subsequently, moving speed. An Extended Kalman Filter (EKF) is utilized for sensor fusion and module speed estimation. Closed-loop Proportional-Derivative (PD) control automatically adjusts the valve angle or adapts the module morphology based on the difference between estimated and desired speeds, ensuring precise speed regulation. The module's performance is evaluated and demonstrated in an industrial pipeline environment under various fluid flow rates. © 2025 IEEE.

关键词： Extended Kalman filters

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Development of a Multi-Fingered Soft Gripper Digital Twin for Machine Learning-based Underactuated Control

arXiv

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arXiv 2025年

作者： Yang, Wu-Te Lin, Pei-Chun University of California Berkeley United States Department of Mechanical Engineering National Taiwan University Bio-inspired Robotics Lab Taipei Taiwan

Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is fewer than the degrees of freedom. This research aims to develop a digital twin for multi-fingered soft grippers to advance the development of underactuation algorithms. The digital twin is designed to capture key effects observed in soft robots, such as nonlinearity, hysteresis, uncertainty, and time-varying phenomena, ensuring it closely replicates the behavior of a real-world soft gripper. Uncertainty is simulated using the Monte Carlo method. With the digital twin, a Q-learning algorithm is preliminarily applied to identify the optimal motion speed that minimizes uncertainty caused by the soft robots. Underactuated motions are successfully simulated within this environment. This digital twin paves the way for advanced machine learning algorithm training. © 2025, CC BY-NC-ND.

关键词： Degrees of freedom (mechanics)

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Morphological Adaptation for Speed Control of Pipeline Inspection Gauges: From System Integration to Real-world Demonstration

Morphological Adaptation for Speed Control of Pipeline Inspe...

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IEEE/SICE International Symposium on System Integration

作者： Tachadol Suthisomboon Sujet Phodapol Thipawan Pairam Kitti Phongaksorn Naris Asawalertsak Pakpoom Kriengkomol Tanapoom Jitnaknan Petch Janbanjong Poramate Manoonpong Bio-Inspired Robotics and Neural Engineering Laboratory School of Information Science and Technology Vidyasirimedhi Institute of Science and Technology (VISTEC) Thailand AI and Robotics Ventures Company Limited (ARV) Thailand PTT Exploration and Production Public Company Limited (PTTEP) Thailand

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

This short paper with a video demonstration presents an add-on adaptive speed control module designed for pipeline inspection gauges (PIGs). The module integrates multiple sensors, a rotary valve unit with an actuator, and an embedded controller. The module’s speed control is realized by adjusting the valve angle (morphological adaptation), which modulates bypass flow and, subsequently, moving speed. An Extended Kalman Filter (EKF) is utilized for sensor fusion and module speed estimation. Closed-loop Proportional-Derivative (PD) control automatically adjusts the valve angle or adapts the module morphology based on the difference between estimated and desired speeds, ensuring precise speed regulation. The module’s performance is evaluated and demonstrated in an industrial pipeline environment under various fluid flow rates.

关键词： Service robots Pipelines Velocity control Morphology System integration Inspection Valves Robot sensing systems Sensors State estimation

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n-LIPO: Framework for Diverse Cooperative Agent Generation using Policy Compatibility

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年

作者： Charakorn, Rujikorn Manoonpong, Poramate Dilokthanakul, Nat Vidyasirimedhi Institute of Science and Technology Bio-Inspired Robotics & Neural Engineering Laboratory School of Information Science and Technology Rayong Thailand Mærsk Mc-Kinney Møller Institute University of Southern Denmark Embodied AI and Neurorobotics Laboratory SDU Biorobotics Odense Denmark King Mongkut’s Institute of Technology Ladkrabang Bangkok Thailand

Diverse training partners in multi-agent tasks are crucial for training a robust and adaptable cooperative agent. Prior methods often rely on state-action information to diversify partners’ behaviors, but this can lead to minor variations instead of diverse behaviors and solutions. We address this limitation by introducing a novel training objective based on "policy compatibility." Our method learns diverse behaviors by encouraging agents within a team to be compatible with each other while being incompatible with agents from other teams. We theoretically prove that incompatible policies are inherently dissimilar, allowing us to use policy compatibility as a proxy for diversity. We call this method Learning Incompatible Policies for n-Player Cooperative Games (n-LIPO). We propose to further diversify individual policies by incorporating a mutual information objective using state-action information. We empirically demonstrate that n-LIPO effectively generates diverse joint policies in various two-player and multi-player cooperative environments. In a complex cooperative task, two-player multi-recipe Overcooked, we find that n-LIPO generates a population of behaviorally diverse partners. These populations are then used to train robust generalist agents that can generalize better than using baseline populations. Finally, we demonstrate that n-LIPO can be applied to a high-dimensional StarCraft Multi-Agent Challenge (SMAC) multi-player cooperative environment to discover diverse winning strategies when only a single goal exists. © 2020 IEEE.

关键词： Reinforcement learning

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Synergy Between Soft Feet and an Active Tail to Enhance the Climbing Ability of a bio-inspired Climbing Robot

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Journal of bionic engineering 2024年第2期21卷 729-739页

作者： Pongsiri Borijindakul Tachadol Suthisomboon Alihong Ji Zhendong Dai Poramate Manoonpong Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Bio-inspired Robotics and Neural Engineering Laboratory School of Information Science and TechnologyVidyasirimedhi Institute of Science and TechnologyRayong21210Thailand

Lizards use the synergy between their feet and tail to climb on slopes and vertical *** use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during *** by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope *** evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope *** robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft *** experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,*** payload capacity depends on the type of terrain and the inclination ***,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a *** approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.

关键词： bio-inspired climbing robots Climbing robots Soft foot Active tail Soft terrain Terrain transitions

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Towards Growing Robots: A Piecewise Morphology-Controller Co-adaptation Strategy for Legged Locomotion 21st

Towards Growing Robots: A Piecewise Morphology-Controller Co...

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21th Annual Conference on Towards Autonomous robotics, TAROS 20120

作者： Hardman, David George Thuruthel, Thomas Iida, Fumiya Bio-Inspired Robotics Lab Department of Engineering University of Cambridge Cambridge United Kingdom

ISBN: (纸本)9783030634858

Control of robots has largely been based on the assumption of a fixed morphology. Accordingly, robot designs have been stationary in time, except for the case of modular robots. Any drastic change in morphology, hence, requires a remodelling of the controller. This work takes inspiration from developmental robotics to present a piecewise morphology-controller growth/adaptation strategy that facilitates fast and reliable control adaptation to growing robots. We demonstrate our methodology on a simple 3 degree of freedom walking robot with adjustable foot lengths and with varying inertial conditions. Our results show not only the effectiveness and reliability of the piecewise morphology controller co-adaptation (PMCCA) strategy, but also highlight the need for morphological adaptation as a robot design strategy. © 2020, Springer Nature Switzerland AG.

关键词： Morphology

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Data synthesization for classification in autonomous robotic grasping system using ‘Catalogue’-style images 19th

Data synthesization for classification in autonomous robotic...

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19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018

作者： Cheah, Michael Hughes, Josie Iida, Fumiya Bio-Inspired Robotics Lab Department of Engineering University of Cambridge Cambridge United Kingdom

ISBN: (纸本)9783319967271

The classification and grasping of randomly placed objects where only a limited number of training images are available, remains a challenging problem. Approaches such as data synthesis have been used to synthetically create larger training data sets from a small set of training data and can be used to improve performance. This paper examines how limited product images for ‘off the shelf’ items can be used to generate a synthetic data set that is used to train a that allows classification of the item, segmentation and grasping. Experiments investigating the effects of data synthesis are presented and the subsequent trained network implemented in a robotic system to perform grasping of objects. © Springer International Publishing AG, part of Springer Nature 2018.

关键词： Classification (of information)

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Online adaptive resistance control of an arm exercise exoskeleton 23rd

Online adaptive resistance control of an arm exercise exoske...

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23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020

作者： Xiong, Xiaofeng Manoonpong, Poramate Odense5230 Denmark Bio-Inspired Robotics and Neural Engineering Lab The School of Information Science and Technology Vidyasirimedhi Institute of Science and Technology Rayong21210 Thailand

ISBN: (纸本)9781916449046

Resistance training is an effective means of strengthening musculoskeletal capabilities;thereby preventing musculoskeletal disorders (MSDs). However, most existing exoskeletons fail to provide active and affordable resistance training. To address this problem, we develop a resistance-as-needed (RAN) controller and an arm exercise (RISE) exoskeleton for resistance training. The exoskeleton is designed and manufactured in a portable, lightweight (0.425 kg), and 3D print manner. Such control adaptability and design portability are facilitated by the RAN controller whose implementation relies only on internal (e.g., joint position) sensing, rather than external (i.e., EMG, electromyography) sensing and physical compliant mechanisms (e.g., springs). The active resistance torque to the RISE exoskeleton is generated by the RAN controller, in which impedance gains Kp and Kd are online tuned. As a result, the RAN controller enables the RISE exoskeleton to produce more adaptive and effective resistance motions that lead to higher training efficiency, compared to conventional constant impedance controllers. The proposed RAN controller and designed RISE exoskeleton pave a way for providing portable and affordable resistance training. © CLAWAR Association Ltd.

关键词： Controllers

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Robotic Shoe Packaging Strategies Based on a Single Soft-Gripper System and Extrinsic Resources 8

Robotic Shoe Packaging Strategies Based on a Single Soft-Gri...

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

作者： Dong, Yi Duan, Jinjun Liu, Yangjun Dai, Zhendong Manoonpong, Poramate Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China School of Information Science & Technology Vidyasirimedhi Institute of Science & Technology Bio-inspired Robotics & Neural Engineering Lab Rayong21210 Thailand

ISBN: (纸本)9798350300178

Packaging is usually a multi-object manipulation task involving objects of different softness and dimensions. The flexibility of paper and the variety of shoe types and states are major challenges for packaging tasks. In this study, we propose a complete solution for a shoe packaging task involving paper, which makes full use of extrinsic resources to improve its efficiency. Firstly, according to the different characteristics of the manipulated objects and task requirements, visual perception is developed to obtain the grasp poses of different objects. Furthermore, paper grasping strategies by exploiting environmental constraints and shoe reorientation method with gravity are proposed, which are necessary for a shoe packaging task. Finally, the complete pipeline for a shoe packaging task is introduced and qualitative and quantitative experiments verify its feasibility and robustness. © 2023 IEEE.

关键词： Packaging

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Auto-tuning control of pem water electrolyzer

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ASME 2019 Dynamic Systems and Control Conference, DSCC 2019

作者： Keow, Alicia Chen, Zheng Bio-inspired Robotics and Controls Lab Department of Mechanical Engineering University of Houston HoustonTX77204 United States

ISBN: (纸本)9780791859155

Proton exchange membrane (PEM) electrolyzers with theability to produce gases at a pressure suitable for direct metal hydride storage are desirable because they do not require the use ofcompressors and other auxiliary components. Direct storage intometal hydride cylinders is made feasible when the pressure andflow rate of hydrogen is controlled. The nonlinear dynamics ofthe PEM electrolyzer change with temperature and pressure, bothof which change with the hydrogen production rate, and are thusdifficult to estimate. Therefore, a model-free, relay-feedback,auto-tuning approach is used to tune a proportional integral (PI)controller. This allows for the determination of the voltage supply to the electrolyzer by tracking the current set-point and correlating it to the hydrogen production rate. A gain schedulingapproach is used to record the tuned controller's parameters atdifferent set-points, minimizing the frequency of tuning the device. A self-assessment test is used to determine situations wherethe auto-tuner should activate to update the PI parameters, thus,allowing for the system to operate without supervision. The autotuning PI control is successfully tested with a PEM electrolyzersetup. Experimental results showed that an auto-tuner can tunethe controller parameters and produce favorable transient behaviors, allowing for a degree of adaptability for variations in systemset-points. Copyright © 2019 ASME.

关键词： Hydrogen production

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