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

作者： Mahdi Nabipour S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Dept of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

In this article, after introducing the RoboWalk body weight support assistive device, the forward kinematics of human and the inverse kinematics of the assistive robot are introduced. Then, a method for obtaining an analytical dynamics of the system is presented. This method is based on modeling the human body without modeling its constraints and contact forces. Then, the contact forces are taken into account and mapped into joint space of the robot using the jacobian matrices of interaction points. This method of modeling is then compared and verified by the numerical Recursive Newton Euler Algorithm. Since the numerical method is more efficient and has less computational complexities, it can be used in implementing the control algorithms on the robot. After the model is verified, a control strategy for assisting the user is designed and implemented on the developed model of RoboWalk. The performance of this control strategy is evaluated by comparing the floor reaction force and user joint torques if using Robowalk or not. Finally, the actuator's specification to fulfill our requirements is discussed.

关键词： Robot kinematics Kinematics Exoskeletons Mathematical model Legged locomotion Pelvis

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Robust Object Tracking Based on Recurrent Neural Networks

Robust Object Tracking Based on Recurrent Neural Networks

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

作者： F. Lotfi V. Ajallooeian H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

Object tracking through image sequences is one of the important components of many vision systems, and it has numerous applications in driver assistance systems such as pedestrian collision avoidance or collision mitigating systems. Blurred images produced by a rolling shutter camera or occlusions may easily disturb the object tracking system. In this article, a method based on convolutional and recurrent neural networks is presented to further enhance the performance and robustness of such trackers. It is proposed to use a convolutional neural network to detect an intended object and feed the tracker with found image. Moreover, by using this structure the tracker is updated every ' n ' frames. A recurrent neural network is designed to learn the object behavior for estimating and predicting its position in blurred frames or when it is occluded behind an obstacle. Real-time implementation of the proposed approach verifies its applicability for improvement of the trackers performance.

关键词： Detectors Target tracking Object tracking Recurrent neural networks Proposals Robots

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Design of a nonlinear adaptive natural oscillator: Towards natural dynamics exploitation in cyclic tasks

Design of a nonlinear adaptive natural oscillator: Towards n...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Rezvan Nasiri Mahdi Khoramshahi Majid Nili Ahmadabadi Cognitive Robotics Laboratory Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Iran

ISBN: (纸本)9781509037636

In this paper, we present the dynamical equations of a nonlinear adaptive natural oscillator (NANO) in order to exploit the natural dynamics in robotic systems. The presented oscillator tries to minimize an energy-based cost function by adapting the shape and frequency of the reference trajectory. Stability, convergence, and optimality of this oscillator are guaranteed analytically. Moreover, the performance of this oscillator is investigated by applying it to three different types of robotic models;i.e., the pendulum, the adaptive-toy, and the hopper-leg.

关键词： Trajectory Learning Energy Efficiency Cyclic Tasks Natural Dynamics

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Sensorless friction-compensated passive lead-through programming for industrial robots

Sensorless friction-compensated passive lead-through program...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Stolt F. B. Carlson M. M. G. Ardakani I. Lundberg A. Robertsson R. Johansson Department of Automatic Control LCCC Linnaeus Center and the eLLIIT Excellence Center at Lund University Sweden Lunds Universitet Lund SE ABB Robotics Västerås Sweden

Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expensive sensor. The method is based on disabling low-level joint controllers combined with gravity compensation. It is reported how the performance can be improved by compensating for friction. Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain. The lead-through programming is experimentally evaluated using two different industrial robots.

关键词： Robot sensing systems Friction Torque Feedforward neural networks Programming Robot kinematics

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Distributed formation control of networked mechanical systems

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IFAC-PapersOnLine 2022年第13期55卷 294-299页

作者： N. Javanmardi P. Borja M.J. Yazdanpanah J.M.A. Scherpen Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft The Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen The Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.

关键词： Autonomous systems Cooperative control Networked control systems Large-scale systems Port-Hamiltonian systems Scalability

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Formulation of transparency in bilateral teleoperation systems: A robust approach

Formulation of transparency in bilateral teleoperation syste...

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International Conference on control, Instrumentation, and Automation

作者： M. Salimifar H. D. Taghirad B. Fallahi K. N. University of Technology Tehran Iran Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICEE) Tehran Iran

This paper presents a robust structure to optimize transparency in bilateral teleoperation systems. The system is assumed to be linear, with constant but uncertain time delay in communication channel. Benefiting from small gain theorem and by using optimal H 2 /H ∞ solution of the formulated problem, stability of the delayed system is guaranteed, while the transparency of the bilateral teleoperation system has been reached to a desired level. Simulation results show the effectiveness of the proposed formulation and its solution for a case study.

关键词： Delay effects Impedance Robustness Transfer functions Stability analysis Force Uncertainty

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Robust control of quadrotor system in the presence of disturbances and uncertainties: using a virtual control approach

Robust control of quadrotor system in the presence of distur...

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

作者： Milad Ahmadzadeh Mohammad Bagher Menhaj Mahnaz Shamshirsaz The Center of Excellence on Control and Robotics Lab Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran New Technologies Research Center Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

The aim of the paper is to design a controller for a quadrotor robot in the presence of external disturbances and uncertainties in the system parameters in such a way that the robot tracks a commanded trajectory accurately. In our approach, the system model is divided into two subsystems, i.e. the under-actuated translational dynamics and the fully-actuated rotational dynamics. At the first step, to control the translational dynamics, we take advantage of a virtual controller, from which the commanded attitude and the thrust input is calculated. In the design of the virtual controller, we exploit an auxiliary system to deal with the under-actuation of the translational dynamics. A prior-bounded estimator is also exploited to counteract the effect of the translational disturbances. After that, a sliding mode controller is developed for the rotational dynamics to tackle the parametric uncertainty and external disturbances in the rotational dynamics. Using Lyapunov function theory, the overall stability of the proposed control scheme is assured. Finally, simulation results are presented to show the effectiveness of the proposed controller.

关键词： Vehicle dynamics Attitude control Uncertainty Estimation Robots Aerodynamics

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Development and Integration of an Advanced GUI with Real-Time Data Logging for RCM-Based Robotic Surgery Devices

Development and Integration of an Advanced GUI with Real-Tim...

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

作者： M. Aghapour R. Heidari M. M. Nazeri M. J. Ahmadi H. D. Taghirad Applied Robotics and AI Solutions (ARAS) Faculty of Electrical Engineering Industrial Control Center of Excellence K.N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

In this paper, a Graphical User Interface (GUI) with advanced 3D visualization was developed specifically for minimally invasive eye surgeries. This system visualizes a realistic eye model with color-coded feedback on the trainee's maneuvers based on the magnitude of applied forces. This real-time feedback enables the trainer surgeon to monitor the trainee's actions, enhancing spatial awareness and control within the eye's confined anatomy. This GUI was validated in an operating room environment and proved to be an advantageous training tool in live surgical settings.

关键词： Training Three-dimensional displays Minimally invasive surgery Mechatronics Real-time systems Anatomy Robots Monitoring Graphical user interfaces

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A Modular Approach to the Embodiment of Hand Motions from Human Demonstrations

A Modular Approach to the Embodiment of Hand Motions from Hu...

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IEEE-RAS International Conference on Humanoid Robots

作者： Alexander Fabisch Manuela Uliano Dennis Marschner Melvin Laux Johannes Brust Marco Controzzi Robotics Innovation Center DFKI GmbH Bremen Germany The BioRobotics Institute Scuola Superiore Sant’ Anna Pisa Italy Department of Excellence in Robotics & AI Pisa Italy Robotics Research Group University of Bremen Plan-Based Robot Control DFKI GmbH

ISBN: (纸本)9798350309805

Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and data-efficient way of guiding the robot's behavior. We propose a modular framework with an automatic embodiment mapping to transfer recorded human hand motions to robotic systems. In this work, we use motion capture to record human motion. We evaluate our approach on eight challenging tasks, in which a robotic hand needs to grasp and manipulate either deformable or small and fragile objects. We test a subset of trajectories in simulation and on a real robot and the overall success rates of about 70% are aligned.

关键词： Robot kinematics Robot vision systems Humanoid robots Reinforcement learning Grasping Cameras Motion capture

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A New Agile Actuation System of a Cable-Driven Parallel Robot

A New Agile Actuation System of a Cable-Driven Parallel Robo...

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

作者： S. Ali A. Moosavian MohammadJavad Shabani SeyedSina Seyedi HasanAbadi Mohammadreza Dahaaghin Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotic and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

Cable-driven Parallel Robots (CDPRs) offer a wider range of workspace compared to rigid-link parallel robots. These robots are equipped with an actuation system that satisfies some requirements, such as having low inertia and a negligible amount of friction. These two criteria lead to the agility definition of a system. On the other hand, winch-drum actuation systems should be able to wind the cable properly, in a way it does not be wound on itself. In this paper, an innovative winch-drum actuation system with a universal joint module is designed and fabricated for a CDPR. The winch-drum module is equipped with a power screw module which allows the cable to be wound properly around the drum and the universal joint module allows the cable to accordingly orient within the workspace. To validate the proposed designated system, it is experimentally evaluated in two control scenarios; i.e. reaching a set point and path tracking task The results show that the proposed actuation system fulfills the desired criteria and has the potential to be implemented in any other CDPR.

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