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arXiv 2022年

作者： Sutrisno, Amanda Mathews, Chase Braun, David J. The Advanced Robotics and Control Laboratory within the Center for Rehabilitation Engineering and Assistive Technology Department of Mechanical Engineering Vanderbilt University NashvilleTN37235 United States

Springs store mechanical energy similar to batteries storing electrical energy. However, conventional springs are heavy and store limited amounts of mechanical energy relative to batteries, i.e they have low mass-energy-density. Next-generation 3D printing technology could potentially enable manufacturing low cost lightweight springs with high energy storage capacity. Here we present a novel design of a high-energy-density 3D printed torsional spiral spring using structural optimization. By optimizing the internal structure of the spring we obtained a 45% increase in the mass energy density, compared to a torsional spiral spring of uniform thickness. Our result suggests that optimally designed 3D printed springs could enable robots to recycle more mechanical energy per unit mass, potentially reducing the energy required to control robots. © 2022, CC BY-NC-ND.

关键词： Structural optimization

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Towards stochastic fault-tolerant control using precision learning and active inference

arXiv

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arXiv 2021年

作者： Baioumy, Mohamed Pezzato, Corrado Corbato, Carlos Hernández Hawes, Nick Ferrari, Riccardo Oxford Robotics Institute University of Oxford Cognitive Robotics Delft University of Technology Delft Center for Systems and Control Delft University of Technology

This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes a binary decision of whether a sensor is healthy (functional) or faulty is made based on measured data. The decision boundary is called a threshold and it is usually deterministic. Following a faulty decision, fault recovery is obtained by excluding the malfunctioning sensor. We propose a stochastic fault-tolerant scheme based on active inference and precision learning which does not require a priori threshold definitions to trigger fault recovery. Instead, the sensor precision, which represents its health status, is learned online in a model-free way allowing the system to gradually, and not abruptly exclude a failing unit. Experiments on a robotic manipulator show promising results and directions for future work are discussed. Copyright © 2021, The Authors. All rights reserved.

关键词： Stochastic systems

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All-weather,natural silent speech recognition via machine-learning-assisted tattoo-like electronics

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npj Flexible Electronics 2021年第1期5卷 183-191页

作者： Youhua Wang Tianyi Tang Yin Xu Yunzhao Bai Lang Yin Guang Li Hongmiao Zhang Huicong Liu YongAn Huang State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhanChina Flexible Electronics Research Center Huazhong University of Science and TechnologyWuhanChina School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina State Key Laboratory of Industrial Control Technologyg Institute of Cyber Systems and ControlZhejiang UniversityHangzhouChina

The internal availability of silent speech serves as a translator for people with aphasia and keeps human–machine/human interactions working under various *** paper develops a silent speech strategy to achieve all-weather,natural *** strategy requires few usage specialized skills like sign language but accurately transfers high-capacity information in complicated and changeable daily *** the strategy,the tattoo-like electronics imperceptibly attached on facial skin record high-quality bio-data of various silent speech,and the machine-learning algorithm deployed on the cloud recognizes accurately the silent speech and reduces the weight of the wireless acquisition module.A series of experiments show that the silent speech recognition system(SSRS)can enduringly comply with large deformation(~45%)of faces by virtue of the electricitypreferred tattoo-like electrodes and recognize up to 110 words covering daily vocabularies with a high average accuracy of 92.64%simply by use of small-sample machine *** successfully apply the SSRS to 1-day routine life,including daily greeting,running,dining,manipulating industrial robots in deafening noise,and expressing in darkness,which shows great promotion in real-world applications.

关键词： translator weather silent

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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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Maintaining Balance of Mobile Manipulators for Safe Pick-Up Tasks

Maintaining Balance of Mobile Manipulators for Safe Pick-Up ...

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International Conference on control, Automation, robotics and Vision (ICARCV)

作者： Francesco D'Orazio Tommaso Belvedere Spyridon G. Tarantos Giuseppe Oriolo Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy CNRS Université de Rennes Inria IRISA Rennes France Center of AI & Robotics (CAIR) and Engineering Division New York University Abu Dhabi Abu Dhabi United Arab Emirates

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This paper presents a novel method to maintain the dynamic balance of a Mobile Manipulator (MM) during the pick-up of heavy objects. The approach entails the generation of a preliminary reach-to-grasp trajectory, which is subsequently refined by an Optimization-Based controller (OBC) formulated as a Quadratic Program (QP). The trajectory is modified in a minimal fashion to ensure that the robot maintains balance during the reaching phase and remains balanced when the payload is grasped. This is accomplished by incorporating a balance constraint into the OBC that predicts the Zero Moment Point (ZMP) position of the robot at the beginning of the pick-up phase. This accounts for the gravitational and inertial effects that the object has on the robot. The method is validated through simulations conducted with the TIAGo robot in Gazebo. The results demonstrate that the proposed approach effectively prevents the robot from tipping over when the payload is considered.

关键词： Simulation Wheels Stability analysis Robustness Trajectory Safety Mobile robots Robots Manipulator dynamics Payloads

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Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions

Utilizing the Natural Dynamics of Elastic Legged Robots for ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Fabian Beck Maximilian Rehermann Johann Reger Christian Ott German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany Control Engineering Group Technische Universität Ilmenau Ilmenau Germany Automation and Control Institute Technische Universität Wien Vienna Austria

ISBN: (纸本)9798350309805

This work focuses on the energy efficient control of a planar bipedal robot by using elastic elements in the joints for short-term energy storage. The considered biped exhibits three degrees of freedom per leg and each joint is equipped with a series-elastic actuator (SEA). A controller is developed to enable point foot hopping based on the spring loaded inverted pendulum template. The control design was split into the high-level rigid-body and the elastic dynamics and is validated for hopping motions by numerical simulations. A high -level reference design is proposed, which enables that the elastic system can outperform the corresponding rigid counterpart with regard to energy efficiency in stance phase by more than 50 percent.

关键词： Legged locomotion Technological innovation Dynamics Torque control Humanoid robots Europe Energy efficiency

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Event-aided Semantic Scene Completion

arXiv

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arXiv 2025年

作者： Guo, Shangwei Shi, Hao Wang, Song Yin, Xiaoting Yang, Kailun Wang, Kaiwei State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China School of Robotics the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China College of Computer Science and Technology Zhejiang University Hangzhou310027 China

Autonomous driving systems rely on robust 3D scene understanding. Recent advances in Semantic Scene Completion (SSC) for autonomous driving underscore the limitations of RGB-based approaches, which struggle under motion blur, poor lighting, and adverse weather. Event cameras, offering high dynamic range and low latency, address these challenges by providing asynchronous data that complements RGB inputs. We present DSEC-SSC, the first real-world benchmark specifically designed for event-aided SSC, which includes a novel 4D labeling pipeline for generating dense, visibility-aware labels that adapt dynamically to object motion. Our proposed RGB-Event fusion framework, EvSSC, introduces an Event-aided Lifting Module (ELM) that effectively bridges 2D RGB-Event features to 3D space, enhancing view transformation and the robustness of 3D volume construction across SSC models. Extensive experiments on DSEC-SSC and simulated SemanticKITTI-E demonstrate that EvSSC is adaptable to both transformer-based and LSS-based SSC architectures. Notably, evaluations on SemanticKITTI-C demonstrate that EvSSC achieves consistently improved prediction accuracy across five degradation modes and both In-domain and Out-of-domain settings, achieving up to a 52.5% relative improvement in mIoU when the image sensor partially fails. Additionally, we quantitatively and qualitatively validate the superiority of EvSSC under motion blur and extreme weather conditions, where autonomous driving is challenged. The established datasets and our codebase will be made publicly at https://***/Pandapan01/EvSSC. Copyright © 2025, The Authors. All rights reserved.

关键词： Image enhancement

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Investigating the Power Budget of a 3U Nanosatellite Designed for Earth Observation

Investigating the Power Budget of a 3U Nanosatellite Designe...

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IEEE Metrology for Aerospace

作者： Amina Daghouri Youssef El Hachimi Abdelaali Ouhammam Mohammed Alae Chanoui Soumia Elhani Hassane Mahmoudi Energy Optimization Diagnosis and Control Team ENSAM University Center for Research in Space Technologies EMI Mohammed V University Rabat Morocco Power Electronics Smart Control Techniques Automatic and Robotics Team EMI University Center for Research in Space Technologies EMI Mohammed V University Rabat Morocco LASTIMI Laboratory EST University Center for Research in Space Technologies EMI Mohammed V University Rabat Morocco

The Electrical Power System (EPS) is one of the most critical subsystems of a nanosatellite. Thus, its design should be done carefully for a successful mission. To verify that the power needs of its subsystems does not exceed the power available, a power budget should be established. The purpose of this work is to evaluate the 3U nanosatellite's EPS by analyzing its power budget using Systems Tool Kit (STK) software. In this study, the orbital design, the sizing of the PV panels and the batteries used are presented. The simulation is done taking into account the worst case assumptions: the sun-synchronous Low Earth Orbit (LEO) orbit with the longest eclipse period, the worst case solar irradiance of 1316 W/m 2 . The results of the power budget established confirm the selection and the sizing of PV panels and the batteries.

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Hierarchical Whole-body control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation

Hierarchical Whole-body Control of the cable-Suspended Aeria...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yuri S. Sarkisov Andre Coelho Maihara G. Santos Min Jun Kim Dzmitry Tsetserukou Christian Ott Konstantin Kondak Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Robotics and Mechatronics Group University of Twente Enschede The Netherlands Dextrous Robotics Inc. Memphis United States Instituto Tecnológico de Aeronáutica São José dos Campos Brazil Intelligent Robotic Systems Lab Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea Automation and Control Institute TU Wien Vienna Austria

During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winch-based actuation for the crane-stationed cable-suspended aerial manipulator. Three winch-controlled suspension rigging cables produce a desired cable tension distribution to generate a wrench that reduces the effect of gravitational torque. In order to coordinate the robotic arm and the winch-based actuation, a model-based hierarchical whole-body controller is adapted. It resolves two tasks: keeping the robotic arm end-effector at the desired pose and shifting the system center of mass in the location with zero gravitational torque. The performance of the introduced actuation system as well as control strategy is validated through experimental studies.

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A Robotic Framework for the Robot@Factory 4.0 Competition

A Robotic Framework for the Robot@Factory 4.0 Competition

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Ricardo B. Sousa Cláudia D. Rocha João G. Martins João Pedro Costa João Tomás Padrão José Maria Sarmento José Pedro Carvalho Maria S. Lopes Paulo G. Costa António Paulo Moreira Faculty of Engineering University of Porto (FEUP) Porto Portugal CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal C2SR - Cyber-Physical Control Systems and Robotics SYSTEC - Research Center for Systems and Technologies Porto Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Robotic competitions stand as platforms to propel the forefront of robotics research while nurturing STEM education, serving as hubs of both applied research and scientific innovation. In Portugal, the Portuguese robotics Open (FNR) is an event with several robotic competitions, including the Robot@Factory 4.0 competition. This competition presents an example of deploying autonomous robots on a factory shop floor. Although the literature has works proposing frameworks for the original version of the Robot@Factory competition, none of them proposes a system framework for the Robot@Factory 4.0 version that presents the hardware, firmware, and software to complete the competition and achieve autonomous navigation. This paper proposes a complete robotic framework for the Robot@Factory 4.0 competition that is modular and open-access, enabling future participants to use and improve it in future editions. This work is the culmination of all the knowledge acquired by winning the 2022 and 2023 editions of the competition.

关键词： Technological innovation Education Propulsion Production facilities Software Hardware Autonomous robots

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