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An intelligent speed-suggestion planner for coverage path with multiple constraints

An intelligent speed-suggestion planner for coverage path wi...

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Ma, Xinbo Jiang, Guolai Peng, Yuanzhe Ma, Tingchen Liu, Chao Ou, Yong-Sheng Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Key Laboratory of Human-Machine Intelligence-Synergy Systems University of Chinese Academy of Sciences Beijing100049 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems

ISBN: (纸本)9781665436786

In this paper, we consider various constraints to generate a recommended speed profile for the covered path of the mobile robot, and use the recommended speed profile as the control input to complete trajectory tracking. These speeds are affected by the constraints of the robot's kinematics and dynamics model and the constraints of the robot's environment. The speed planner is used in many scenarios of mobile robots, such as cleaning robots, disinfecting robots, etc., which can improve the safety and efficiency of tasks performed by robots. We introduce the commonly used traffic regulations in daily life into the generation of speed profile. In certain sections of highways or urban roads, there will be a road sign indicating the recommended speed of the section. And our paper is to generate the speed of each point for the given path as the recommended speed for the robot to drive for reference. We use a dynamic window method to update the current environment in real-time. And calculate the influence of the environment in the window on the current speed. Then we use a pure pursuit method to track the given path, and we define a safety cost function to express the safety of the trajectory. We demonstrated the efficiency and security of this method by using a simulation platform. © 2021 IEEE.

关键词： Speed

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A Multi-task Learning Convolutional Neural Network for Object Pose Estimation⋆

A Multi-task Learning Convolutional Neural Network for Objec...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Yurui Wang Shaokun Jin Yongsheng Ou CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology

Estimating 6D poses of objects from RGB images is very crucial for robots to interact with the surrounding environment and to cooperate with humans. It is a challenging problem due to the various shapes of objects, the occlusions among objects, as well as the complexity of the scene. In this study, we present a new multi-task convolutional neural network for 6D object pose estimation, which also learns the object region in the image to further improve the estimation result. A weighted loss computed from the training samples is adopted to guarantee that the components of the estimated pose are equally accurate. Additionally, we sythesize new virtual data based on the existing training data so as to overcome the possible adverse situation caused by insufficiency of training data. Experiments on the YCB-video dataset are undertaken to validate the effectiveness of the proposed method.

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Learning-based Adaptive Estimation for AOA Target Tracking with Non-Gaussian White Noise

Learning-based Adaptive Estimation for AOA Target Tracking w...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Sheng Xu Yongsheng Ou Xinyu Wu CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology

In angle-of-arrival (AOA) target tracking, the target states are estimated using the noisy angular measurements. The non-Gaussian measurement noise is common in practical applications and will decrease the estimation accuracy significantly. This paper is to reduce the negative impacts of the non-Gaussian white noise (NGWN), which is modeled by multiple mixture Gaussian white noises, and guarantee the estimation accuracy. A learning-based adaptive extended Kalman filter (EKF) for AOA target tracking is developed in the NGWN environment. In the proposed method, the extreme learning machine (ELM) using a three-layer neural network is applied to identify the characters of measurement noise at each sampling time. Consequence, the EKF will consider the noise characters by the trained ELM, and make the corresponding real-time adjustments to improve the tracking performance. The effectiveness of the proposed method is verified by simulation examples.

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A Compliant Traction Method of Manipulator Based on Online Calibration of Force Sensor Zero-Point 6

A Compliant Traction Method of Manipulator Based on Online C...

引用

6th International Conference on Automation, Control and Robots, ICACR 2022

作者： Xu, Zhilu Wang, Weijun Feng, Wei Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen China Shenzhen Institute of Advanced Technology Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

ISBN: (数字)9781665498739

ISBN: (纸本)9781665498739

With the increasing number of cooperative robots, it is becoming increasingly important to improve the safety and operability of human-robot interaction. Installing a six-dimensional force sensor at the end of the manipulator can realize the drag of the manipulator in Cartesian space. A compliant traction method of manipulator based on online calibration of force sensor zero-point is proposed in this paper. Aiming at the problem of "zero drift"of force sensor, after calculating the gravity of the end tool, the zero-point of the force sensor is calibrated online by means of mean processing, so as to obtain more accurate external force. Then, the relationship between the end position of the manipulator and the external force, the end moving speed of the manipulator and the external force is established, and the change of the position and speed of the manipulator is controlled by the external force at the same time. Finally, experiments show the effectiveness of this method and ensure the safety and reliability in the traction process. © 2022 IEEE.

关键词： Manipulators

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Mobile manipulation task simulation using ROS with MoveIt

Mobile manipulation task simulation using ROS with MoveIt

引用

2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017

作者： Deng, Hao Xiong, Jing Xia, Zeyang Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen University Town 1068 Xueyuan Avenue Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781538620342

Visualized simulation has always been one of the most flexible techniques for quick verification of prototype or algorithms. In this paper, we illustrate a simple and effective method of how to implement the simulation of mobile manipulation task using Robot Operation System (ROS) with MoveIt. First, we propose a quick and modular architecture which includes the entire configuration process of system modeling, kinematics, control, and visualization. Then, we demonstrated its application on simulation of a mobile manipulation task in the automatic production line. Experimental results have shown that the proposed architecture achieves an easy configuration, a good integration and functional visualization for manipulation simulation. © 2017 IEEE.

关键词： Visualization

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Lower limb exoskeleton design based on knee joint assistance

Lower limb exoskeleton design based on knee joint assistance

引用

2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Jiang, Peng Wang, Ye Shao, Tianqi Han, Changsoo Wang, Lin Li, Guanglin Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Guangdong-Hong Kong-Macau Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Shenzhen518055 China Hanyang University Department of Mechatronics Engineering Ansan15588 Korea Republic of Engineering School of Denis Diderot Paris Diderot University Paris75013 France

ISBN: (纸本)9781665436786

human mobility is vital to daily activities and can be directly linked to the living quality. This is an especially severe problem for the patients with walking dysfunction. There is a great need to develop viable mobility solutions to assist individuals and improve their living quality. Wearable gait-assisted exoskeletons are an effective solution to this growing problem. This paper presents a passive lower limb exoskeleton which can work on hip and knee joints for gait assistance. The hip exoskeleton is designed based on specially shaped torsion springs that work with cams for gravity compensation of the human thigh, converting the torque of the built-in torsion springs into a balanced torque of the hip and knee joints in the later stages of the gait stance phase to overcome the effects of gravity. The knee exoskeleton is designed with reference to a new spring-loaded gravity balanced structure used to carry single-degree-of-freedom rotational loads. When worn, it can help the lower leg to push out during gait swing state to compensate for falls due to the lack of lower leg swing. After the exoskeleton prototype was completed, 3D motion capture experiments were performed to obtain gait parameters. Finally, the effectiveness of the exoskeleton in assisting patients with walking dysfunction was verified using OpenSim simulation software. © 2021 IEEE.

关键词： Computer software

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A Novel Gait Prediction Method for Soft Exosuit Base on Limit Cycle and Neural Network

A Novel Gait Prediction Method for Soft Exosuit Base on Limi...

引用

International Conference on e-health Networking, Applications and Services (HealthCom)

作者： Lingxing Chen Chunjie Chen Tao Fang Yu Zhang Youfu Liu Xinyu Wu CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems

ISBN: (数字)9781728162676

ISBN: (纸本)9781728162683

The important purpose of soft exosuit is to decrease the energy consumption of users by providing assistance. If there is something wrong with the judgment of the human gait during the assisting process, the assisting effect will be poor and even people's walking will be affected. A novel method is designed to predict human gait information in the paper, which utilizes the curve shape and mathematical characteristics of the Rayleigh oscillator equation in limit cycle to fit gait information. Only 1/4 gait cycle data is needed to input into the trained neural network to output an Rayleigh oscillator equation that can better predict the remaining gait cycle information. Data of four subjects on different terrains which include flat ground and upstairs are collected. Experiment results showed that the trained ANN model costs about 0.006s in CPU, it has a prediction speed similar to traditional prediction methods. Simultaneously the Rayleigh oscillator equation has good performance in predicting gait information, and it can show a higher stability and accuracy compared with traditional gait prediction methods.

关键词： Shape Neural networks Limit-cycles Predictive models Stability analysis Mathematical model Oscillators

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Design and Simulation of A Novel Electromagnetic Radial Shock Wave Therapy 17

Design and Simulation of A Novel Electromagnetic Radial Shoc...

引用

17th International Convention on Rehabilitation Engineering and Assistive Technology, i-CREATe 2024

作者： Zhou, Xiaomeng Cui, Fengxi Yang, Zijian Zhao, Chunlei Li, Guanglin Bao, Shi-Chun Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Shenzhen Dongdixin Technology Co. Ltd Shenzhen518057 China National Innovation Center for Advanced Medical Devices Shenzhen518126 China

ISBN: (纸本)9798350355154

Extracorporeal shock wave therapy is a non-invasive technique, which has been widely used in the clinical treatment of various musculoskeletal diseases such as frozen shoulder and muscle spasms. Conventional pneumatic radial shock wave therapy devices, as the mainstream products today, have shortcomings such as complex structure, high noise, and high requirements for airtightness. Alternatively, electromagnetic radial extracorporeal shock waves can effectively overcome the deficiencies of existing pneumatic technologies by introducing novel system designs. This article introduced the principles of electromagnetic launch technology, demonstrated the feasibility of electromagnetic radial extracorporeal shock wave therapy device by self-designed hardware and control strategy, and investigated the transmission process of shock waves from its generation to its effects on the human body. The feasibility and effectiveness of the design scheme were verified through finite element simulation and prototype manufacturing. © 2024 IEEE.

关键词： Shock waves

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Bionic design of a self-reconfigurable modular robot for search and rescue

Bionic design of a self-reconfigurable modular robot for sea...

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Gao, Guangju Liu, Jingshuai He, Yong Sun, Jianquan Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781665436786

This paper proposes a novel self-reconfigurable modular robot for search and rescue. The modular robot consists of two main structures, a planetary wheel driven robot body and a double unlocking system as the docking structure. By means of the planetary wheel structure, the robot has a strong flexibility to cross obstacles in a disaster environment. In virtue of the docking structure with double unlocking function, the self-reconfigurable ability has improved robot reliability. Further, the modular robot can be connected or disconnected according to the actual task requirements. Finally, to verify the stability and reliability, the finite element analysis is carried out. © 2021 IEEE.

关键词： Reliability analysis

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Wheeled Mobile Robot Based on Adaptive Linear Quadratic Gaussian Control 29

Wheeled Mobile Robot Based on Adaptive Linear Quadratic Gaus...

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第29届中国控制与决策会议

作者： Yubin Liao Yongsheng Ou Shan Meng Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Shenzhen University

ISBN: (纸本)9781509046584

To deal with the existing issues of input saturations and uncertain positioning corrupted by Gaussian noises in the tracking control of Wheeled Mobile Robot(WMR),this paper presents a framework which applies the Adaptive Linear Quadratic Gaussian(ALQG) control with Genetic Algorithm based on linear discrete *** work of ALQG includes three ***,to address the problem of input saturations,we consider a linear discrete system as the Lagrangian multiplier and saturation constraint as the inequality constraint,and the linear quadratic controller with the penalty function as the objective function is solved by the interior point ***,in the above implementation of Linear Quadratic Regulator control,the weighting matrix under different conditions may result in different tracking *** address this issue,weighting matrices of different initial poses and reference trajectories are adaptively explored by Genetic Algorithm with control performance indexes as constraint functions,and the optimal weighting matrix is final ***,concerning the uncertainty problem in positioning,the Kalman Filter algorithm with real-time measurement of the disturbed position of the posture filter is applied in real time to obtain more accurate *** ALQG simulation of the WMR is carried out in the MATLAB software platform,and the tracking quality of the ALQG is discussed *** results show that the trajectory tracking controller of wheeled mobile robot based on ALQG can track the target trajectory stably and has good anti-interference abilities.

关键词： Mobile Robot Trajectory Tracking Linear Quadratic Gaussian Control

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