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arXiv 2022年

作者： Tavassoli, Mehrdad Katyara, Sunny Pozzi, Maria Deshpande, Nikhil Caldwell, Darwin G. Prattichizzo, Domenico Department of Advanced Robotics Italian Institute of Technology Genoa16163 Italy Robotics and Automation team Irish Manufacturing Research DublinD24 Ireland Department of Information Engineering and Mathematics University of Siena 53100 Italy

The uses of robots are changing from static environments in factories to encompass novel concepts such as Human-Robot Collaboration in unstructured settings. Pre-programming all the functionalities for robots becomes impractical, and hence, robots need to learn how to react to new events autonomously, just like humans. However, humans, unlike machines, are naturally skilled in responding to unexpected circumstances based on either experiences or observations. Hence, embedding such anthropoid behaviours into robots entails the development of neuro-cognitive models that emulate motor skills under a robot learning paradigm. Effective encoding of these skills is bound to the proper choice of tools and techniques. This paper studies different motion and behaviour learning methods ranging from Movement Primitives (MP) to Experience Abstraction (EA), applied to different robotic tasks. These methods are scrutinized and then experimentally benchmarked by reconstructing a standard pick-n-place task. Apart from providing a standard guideline for the selection of strategies and algorithms, this paper aims to draw a perspectives on their possible extensions and improvements. © 2022, CC BY.

关键词： Reinforcement learning

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Three-Dimensional Flexible Tactile Sensor Arrays for Perceptual Grasping: Towards Enhanced Perceptual robotics

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IEEE Sensors Journal 2025年

作者： Xu, Naijia Liu, Shaoyu Zhang, Daohui Fu, Xin Han, Baisong Hou, Xudong Zhao, Xingang Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Huazhong University of Science and Technology Flexible Electronics Research Center State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and Engineering Hubei Wuhan430074 China University of Shenyang University of Technology Shenyang110016 China

Recent advancements in intelligent robotics have substantially heightened the demand for multidimensional haptic sensors. Traditional haptic sensors are constrained by their sensitivity, anti-interference capabilities, and measurement range, thereby limiting their application in complex environments. Inspired by the structure of human skin, a three-dimensional arrayed magnetic sensor (MCE) was developed, exhibiting high sensitivity (57.625N-1), a wide force measurement range, low hysteresis (1.04%), and high stability. The sensor comprises a three-layer design: the top layer includes a flexible square magnet that deforms under external forces to detect normal and tangential forces;the middle layer incorporates a flexible elastomer (Ecoflex 00-30) combined with a spring to achieve a broad range of force measurements;and the bottom layer consists of a flexible circuit board (FPCB) embedded with an array of Hall sensors to convert magnetic field variations into electrical signals. The normal force measurement range of the MCE sensor spans from 0 to 16 N, with a minimum resolution of 10 mN, enabling the accurate detection of minor force variations. The tangential force is measured within a range of –7 N to 7 N. Experimental findings indicate that the MCE sensor enables real-time slip detection and, when integrated with deep learning algorithms, attains a remarkable object recognition accuracy of 96.36%. This technological progression significantly augments tactile sensing functionalities, thereby facilitating advancements in intelligent robotics, such as precision grasping, and enhancing human-machine interaction, particularly in the realm of medical rehabilitation devices. © 2001-2012 IEEE.

关键词： Intelligent robots

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Bio-Inspired Pupal-Mode Actuator with Ultra-Crossing Capability for Soft Robots

Bio-Inspired Pupal-Mode Actuator with Ultra-Crossing Capabil...

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IEEE International Conference on robotics and automation (ICRA)

作者： Zhenxing Wang Xiao He Yuhang Zhang Cheng Zhang Lei Sun Zhidong Wang Shun Xu Hao Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Minimally Invasive Surgical Robot Shenyang China Department of Thoracic Surgery The First Affiliated Hospital of China Medical University Shenyang China University of Chinese Academy of Sciences Beijing China Department of Advanced Robotics Chiba Institute of Technology Narashino Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Robot-assisted Natural Orifice Translu-minal Endoscopic Surgery (NOTES) represents a paradigm shift in surgical practice, significantly mini-mizing patient morbidity. However, the variability of inner diameter and the inter-luminal crossing within the luminal tracts lead to challenge for effective robotic intervention. Inspired by the motion of the chrysalis during its transformation, we designed an innovative pupal-mode actuator for NOTES robots. Through the manipulation of its internal air chambers, this actuator is capable of replicating wriggle-like movements. Through experimental analysis, we have acquired the constitutive characteristics of this actuator. Subsequently, an innovative gastric endoscopy robot is developed base the actuator and tested in a phantom. The results of the task simulations substantiate that the pupal-mode actuator has the capability to reduce resistance and enhance the safety of the endoscopic intervention.

关键词： Actuators Surgery Pneumatic systems Soft robotics Robot sensing systems Sensors Task analysis

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Cooperative Hierarchical Coverage Control of Multi-Agent Systems with Non-holonomic Constraints in Poriferous Environments

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IEEE Transactions on Control of Network Systems 2025年

作者： Zou, Jiayu Zhang, Hai-Tao Zhai, Chao Xing, Ning Ma, Yong Liu, Xingjian Huazhong University of Science and Technology School of Artificial Intelligence and Automation The MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems The State Key Laboratory of Digital Manufacturing Equipment and Technology Wuhan430074 China China University of Geosciences School of Automation China The MOE Engineering Research Center of Intelligent Technology for Geo-Exploration Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Academician Workstation of China COSCO Shipping Corporation Ltd. Shanghai200120 China Wuhan University of Technology Sanya Science and Education Innovation Park Sanya572000 China Wuhan University of Technology Chongqing Research Institute Chongqing401120 China

It has long posed a challenging task to optimally deploy multi-agent systems (MASs) to cooperatively coverage poriferous environments in real cooperative detection applications. In response to this challenge, this paper proposes a hierarchical coverage control (HCC) protocol for MASs to perform sector-based coverage operations. First, a distributed Voronoi partition-based sweep-and-assign protocol, combined with a sectorial partition method, is developed, enabling the segmentation of a whole poriferous region into multiple sectorial sub-subregions. Following this procedure, an extreme search scheme is developed to determine the optimal amount of agents for each subregion. After this allocation, a distributed controller is proposed to deploy the agents, considering non-holonomic constraints, into designated niche positions. Additionally, sufficient conditions are derived to guarantee the asymptotical stability of the present HCC. The analytical challenge of the present study stems from the non-convex characteristics inherent in the loss function induced by porous environments. This non-convexity renders the task of globally optimizing the assignment of MASs intractable. Finally, numerical simulations are conducted to validate the effectiveness of the present coverage control approach. © 2014 IEEE.

关键词： Nonlinear control systems

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Reinforcement Learning-based Fault-Tolerant Control for Unmanned Aerial Vehicles

Reinforcement Learning-based Fault-Tolerant Control for Unma...

引用

Youth Academic Annual Conference of Chinese Association of automation (YAC)

作者： Guoqi Wang Xudong Wang Yang Li Ziwei Gao Zhaoke Ning National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha China State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle Engineering Hunan University Changsha China School of Aeronautics and Astronautics Sichuan University Chengdu China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

This paper focuses on the fault-tolerant control (FTC) problem for unmanned aerial vehicles (UAVs) subject to possible multiple actuator failures, which is a tough problem to solve with traditional FTC methods since they usually require accurate mathematical models. To address the limitation of traditional FTC methods, a model-free FTC approach is proposed based on reinforcement learning (RL). Subsequently, the proposed approach is applied to construct fault-tolerant controller for UAVs without any knowledge of the quadrotor dynamic information. Then, an end-to-end control policy that can tolerant actuator failures is obtained, which can map the state of the UAVs directly to the control commands of the four rotors after learning. Finally, the effectiveness of the proposed fault-tolerant approach is demonstrated by using the flexible modular quadrotor simulator.

关键词： Fault tolerance Actuators Trajectory tracking Fault tolerant systems Autonomous aerial vehicles Stability analysis Mathematical models

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Impact of Showing Robot Demonstration on Introducing Social robotics Field to University Students

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International Journal of Humanoid robotics 2024年第2期21卷

作者： Baihaqi, Muhammad Yeza Xu, Sendren Sheng-Dong Graduate Institute of Automation and Control National Taiwan University of Science and Technology No. 43 Section 4 Keelung Road Da'an District Taipei City106335 Taiwan Advanced Manufacturing Research Center National Taiwan University of Science and Technology No. 43 Section 4 Keelung Road Da'an District Taipei City106335 Taiwan

Despite the social robotics' potential to revolutionize human life, the field of social robotics has been less appealing and less popular than other robotics fields in both industrial and research domains. Therefore, many students are unfamiliar with this field. To expedite the development of the social robotics sector, numerous efforts must be made, including introducing students to the topic. In this study, we developed teaching materials and a procedure for introducing university students to the topic of social robotics. A robot demonstration was also utilized to provide participants with a more engaging experience and a deeper knowledge of the importance of social robotics. The ultimate objective of this paper is to provide a reference for lecturers and instructors in introducing social robots to students in the hope that they will become interested in the field, whether for the purposes of research or simply to learn more about this topic. We evaluated the proposed teaching materials and procedures for a small class size based on behavioral and subjective measurements. We also compared the outcome of presentations with and without a robot demonstration. In addition, we performed semi-structured interviews with 10 random participants who wanted to expand our qualitative analysis. Both presentations, with and without robot demonstration, successfully delivered the material. The experimental findings indicated that the robot demonstration had a significant impact on students' satisfaction with the presentation and their desire to participate in similar presentations in the future. © 2024 World Scientific Publishing Company.

关键词： Demonstrations

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Fabrication of Waterproof Artificial Compound Eyes with Variable Field of View Based on the Bioinspiration from Natural Hierarchical Micro–Nanostructures

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Nano-Micro Letters 2020年第12期12卷 13-28页

作者： Peilin Zhou Haibo Yu Ya Zhong Wuhao Zou Zhidong Wang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People’s Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People’s Republic of China University of Chinese Academy of Sciences Beijing 100049People’s Republic of China Department of Advanced Robotics Chiba Institute of TechnologyChiba 275‑0016Japan

Planar and curved microlens arrays(MLAs)are the key components of miniaturized microoptical *** order to meet the requirements for advanced and multipurpose applications in microoptical field,a simple manufacturing method is urgently required for fabricating MLAs with unique properties,such as waterproofness and variable field-of-view(FOV)*** properties are beneficial for the production of advanced artificial compound eyes for the significant applications in complex microcavity environments with high humidity,for instance,miniature medical ***,the simple and effective fabrication of advanced artificial compound eyes still presents significant *** this paper,bioinspired by the natural superhydrophobic surface of lotus leaf,we propose a novel method for the fabrication of waterproof artificial compound *** jet printing was used to fabricate hierarchical MLAs and nanolens arrays(NLAs)on polydimethylsiloxane *** flexible film of MLAs hybridized with NLAs exhibited excellent superhydrophobic property with a water contact angle of 158°.The MLAs film was deformed using a microfluidics chip to create artificial compound eyes with variable FOV,which ranged from 0°to 160°.

关键词： Bioinspired Hierarchical MLAs and NLAs Waterproof artificial compound eyes E-jet printing Microfluidics chip

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Safe Expeditious Whole-Body Control of Mobile Manipulators for Collision Avoidance

arXiv

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arXiv 2024年

作者： Chen, Bingjie Wei, Yancong Liu, Rihao Liu, Houde Xia, Chongkun Han, Liang Liang, Bin Tsinghua Shenzhen International Graduate School Tsinghua University Shenzhen518055 China School of Advanced Manufacturing Sun Yat-Sen University Shenzhen518055 China School of Electrical and Automation Engineering Hefei University of Technology Hefei230009 China Navigation and Control Research Center Department of Automation Tsinghua University Beijing100084 China

In the control task of mobile manipulators (MMs), achieving efficient and agile obstacle avoidance in dynamic environments is challenging. In this letter, we present a safe expeditious whole-body (SEWB) control for MMs that ensures both external and internal collision-free. Firstly, control barrier functions (CBFs) are employed for an MM to establish initial safety constraints. Moreover, to resolve the pseudo-equilibrium problem of CBFs and improve avoidance agility, we propose a novel approach called adaptive cyclic inequality (ACI). ACI comprehensively considers obstacles, nominal control to generate directional constraints for MM. Then, we combine CBF and ACI to decompose safety constraints. Considering all these constraints, we formulate a quadratic programming (QP) as our primary optimization. In the QP cost function, we account for the motion accuracy differences between the base and manipulator, as well as obstacle influences, to achieve simultaneous whole-body motion. We validate the effectiveness of our SEWB control in avoiding collision and reaching target points through simulations and real-world experiments, particularly in challenging scenarios that involve fast-moving obstacles. SEWB has been proven to achieve whole-body collision-free and improve avoidance agility. Copyright © 2024, The Authors. All rights reserved.

关键词： Cost functions

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Isotope Effect on the Casimir Force

SSRN

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SSRN 2023年

作者： Xie, Lanyi Yang, Fuwei Song, Bai Department of Energy and Resources Engineering Peking University Beijing100871 China Center for Nano and Micro Mechanics Tsinghua University Beijing100084 China Department of Advanced Manufacturing and Robotics Peking University Beijing100871 China Beijing Innovation Center for Engineering Science and Advanced Technology Peking University Beijing100871 China

Isotopic dependence of the Casimir force is key to probing new physics and pushing novel technologies at the micro and nanoscale, but is largely unexplored. In 2002, an isotope effect of 10-4 was estimated for metals—orders of magnitude beyond the experimental resolution. Here, by employing the Lifshitz theory, we reveal a significant isotope effect of over 10-1 for polar dielectrics. This effect arises from the isotope-mass-induced line shift of the zone-center optical phonons and is insensitive to the linewidth. We perform numerical analyses on both the imaginary and real-frequency axes, and derive analytical formulas for predicting the isotope effect. The three-orders-of-magnitude difference between polar dielectrics and metals arises from the distinct isotopic dependence of the phonon and plasma frequencies. Our work opens up a new avenue for engineering forces at small scales and may also facilitate the quest for the fifth force of nature. © 2023, The Authors. All rights reserved.

关键词： Phonons

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Lateral Walking Gait Phase Detection with Data Optimization for a Hip Exoskeleton in Resistance Exercise

Lateral Walking Gait Phase Detection with Data Optimization ...

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IEEE Workshop on advanced robotics and its Social Impacts, ARSO

作者： Wujing Cao Xinbo Zhu Rui Xu Changyu Li Hongliu Yu Mingming Zhang Haoyong Yu Worawarit Kobsiriphat Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society and SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems. College of Automation Engineering Nanjing University of Aeronautics and Astronautics Jining Zhongke Intelligent Technology Co. Ltd. University of Shanghai for Science and Technology Southern University of Science and Technology Department of Biomedical Engineering National University of Singapore. National Metal and Materials Technology Center Thailand

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

The accurate detection of lateral walking gait phases is essential for the effective implementation of hip exoskeleton systems in lateral resistance walking exercises. However, limitations in hardware, such as memory and computing power, in the microcontrollers of wearable devices, significantly impact the size and training speed of the lateral walking gait phase detection model, thus affecting the exoskeleton system. This study proposes a data optimization algorithm that utilizes K-means clustering combined with commonly used machine learning algorithms, including Random Forests (RF), Support Vector Machines (SVM), and k-Nearest Neighbors (KNN), to reduce both the training time and size of the model. With the implementation of this algorithm, the training time and model size of RF, SVM, and KNN-based models are reduced by 89.6%, 99.8%, and 97.9%, and 89.6%, 92.7%, and 95.2% respectively. The corresponding gait phase prediction accuracy experiences only a slight decrease of 1.6%, 1.7%, and 2.8% respectively. This method ensures a sufficiently high accuracy in detecting lateral walking gait phases while simultaneously achieving higher efficiency and a smaller model size.

关键词： Legged locomotion Training Support vector machines Solid modeling Machine learning algorithms Accuracy Exoskeletons

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