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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Yenan Chen Chuye Zhang Pengxi Gu Jianuo Qiu Jiayi Yin Nuofan Qiu Guojing Huang Bangchao Huang Zishang Zhang Hui Deng Wei Zhang Fang Wan Chaoyang Song Department of Mechanical and Energy Engineering Southern University of Science and Technology (SUSTech) Shenzhen China SUSTech School of Design Department of System Design and Intelligent Manufacturing SUSTech. Shenzhen Key Lab of Intelligent Robotics & Flexible Manufacturing Systems SUSTech. SUSTech. SUSTech Institute of Robotics

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs. This paper investigates a novel class of overconstrained locomotion from a design and learning perspective inspired by evolutionary morphology, aiming to integrate the concept of ‘intelligent design under constraints’–hereafter referred to as constraint-driven design intelligence–in developing modern robotic limbs with superior energy efficiency. We propose a 3D-printable design of robotic limbs parametrically reconfigurable as a classical planar 4-bar linkage, an overconstrained Bennett linkage, and a spherical 4- bar linkage. These limbs adopt a co-axial actuation, identical to the modern legged robot platforms, with the added capability of upgrading into a wheel-legged system. Then, we implemented a large-scale, multi-terrain deep reinforcement learning framework to train these reconfigurable limbs for a comparative analysis of overconstrained locomotion in energy efficiency. Results show that the overconstrained limbs exhibit more efficient locomotion than planar limbs during forward and sideways walking over different terrains, including floors, slopes, and stairs, with or without random noises, by saving at least 22% mechanical energy in completing the traverse task, with the spherical limbs being the least efficient. It also achieves the highest average speed of 0.85m/s on flat terrain, which is 20% faster than the planar limbs. This study paves the path for an exciting direction for future research in overconstrained robotics leveraging evolutionary morphology and reconfigurable mechanism intelligence when combined with state-of-the-art methods in deep reinforcement learning.

关键词： Couplings Legged locomotion Technological innovation Education Noise Morphology Stairs

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Quadruped Walking Algorithm Integrating Balance Control Using Cartinverted Pendulum Model and Optimization-based Whole-body Inverse Dynamics Control

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Journal of Institute of Control, robotics and Systems 2024年第9期30卷 1024-1036页

作者： Han, Kyu-Chur Kim, Hyun-Seok Kim, Jung-Yup Department of Mechanical Design and Robot Engineering Seoul Nat’l Univ. of Science and Technology Korea Republic of Smart Robotics Team Hyundai-Rotem Co Korea Republic of

This paper presents a walking strategy that enables stable locomotion on irregular ground and allows a quadruped robot to respond to external impact disturbances while walking. Initially, we designed a cart inverted pendulum model (CIPM) for dynamic control of the quadruped robot and converted the control commands derived from the LQR controller into ground reaction forces for balance control using quadratic programming (QP). Next, the derived ground reaction forces were converted into optimal joint torques that integrated the cost function and ground friction conditions through Whole-Body Inverse Dynamics Control (WBIDC) using a floating base dynamic model to realize the stable walking of the robot. To verify the algorithm, ground obstacles and an impact disturbance applicator were modeled on the walking path in the GAZEBO simulation environment, demonstrating successful performance of the quadruped robot walking algorithm presented in this paper. © ICROS 2024.

关键词： Cost functions

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Learning Complicated Manipulation Skills via Deterministic Policy with Limited Demonstrations

arXiv

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arXiv 2023年

作者： Haofeng, Liu Yiwen, Chen Jiayi, Tan Ang, Marcelo H. Department of Mechanical Engineering National University of Singapore Singapore Advanced Robotics Centre College of Design and Engineering National University of Singapore Singapore

Combined with demonstrations, deep reinforcement learning can efficiently develop policies for manipulators. However, it takes time to collect sufficient high-quality demonstrations in practice. And human demonstrations may be unsuitable for robots. The non-Markovian process and over-reliance on demonstrations are further challenges. For example, we found that RL agents are sensitive to demonstration quality in manipulation tasks and struggle to adapt to demonstrations directly from humans. Thus it is challenging to leverage low-quality and insufficient demonstrations to assist reinforcement learning in training better policies, and sometimes, limited demonstrations even lead to worse performance. We propose a new algorithm named TD3fG (TD3 learning from a generator) to solve these problems. It forms a smooth transition from learning from experts to learning from experience. This innovation can help agents extract prior knowledge while reducing the detrimental effects of the demonstrations. Our algorithm performs well in Adroit manipulator and MuJoCo tasks with limited demonstrations. © 2023, CC BY.

关键词： Demonstrations

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Combined Filters design, Using the Principle of Internal Models

Combined Filters Design, Using the Principle of Internal Mod...

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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Gaiduk, Anatoly Denisenko, Darya Prokopenko, Nikolay Southern Federal University Scientific Design Office Robotics and Control Systems Department of Automatic Control Systems Rostov-on-Don Taganrog Russia Department of scientific research Don State Technical University Rostov-on-Don Russia Department of Automatic Control Systems Southern Federal University Rostov-on-Don Russia Don State Technical University Department of Information Systems and Radio Engineering Rostov-on-Don Russia

To design active analog, discrete-analog and digital filters a new method is suggested, taking into account the conditions of selective invariance and using the internal models principle of the dynamic systems. For this purpose, the structure of each basic filter ensures the presence of an explicit spectral model of the filtered signal. Such a filter is selectively invariant, and this property depend only on the spectrum-setting parameters and do not depend on other parameters. It is suggest-ed to carry out the design of the combined selective filters by integration of the suggested basic second-order filters, focusing on the log magnitude plot of the latter. This makes possible to minimize the order of the combined both analog and digital filters. The combined selective filters are distinguished by high stability of selective properties and can be used in the systems for measurement, signal processing, data transmission, as well as automatic and automated control of various social, production and special facilities. © 2024 IEEE.

关键词： Wiener filtering

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NURBS Curve Trajectory Tracking Control for Differential-Drive Mobile Robot by a Linear State Feedback Dynamic Controller

NURBS Curve Trajectory Tracking Control for Differential-Dri...

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AUN/SEED-Net Joint Regional Conference in Transportation, Energy, and Mechanical Manufacturing engineering, RCTEMME 2021

作者： Thai, Nguyen Hong Thien, Hoang Ly, Trinh Thi Khanh Department of Mechanical Design and Robotics School of Mechanical Engineering Hanoi University of Science and Technology Hanoi Viet Nam Faculty of Automation Technology Electric Power University Hanoi Viet Nam

ISBN: (纸本)9789811919671

In this paper, the authors present a method of designing a linear state feedback dynamic controller to control a differential-driven mobile robot to trajectory tracking with small error. The nonlinear dynamics model of the robot linearized around the working point. On that basis, design the controller according to the pole assignment method based on the position and velocity error model. Another difference with previous studies is that the coefficients of the controller vary with time. It depends on the travel velocity and the curvature radius of the desired motion trajectory. NURBS curve is applied to design the robot’s motion trajectory to avoid acceleration and deceleration to stabilize the robot’s motion. The research results have important implications in the design of dynamic controllers of the differential-drive AGV in the industry. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Differential-drive mobile robot Linear state feedback dynamic controller NURBS curve Trajectory tracking

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ARIS 1.0: An Autonomous Multitasking Medical Service Robot for Hospital Environments

ARIS 1.0: An Autonomous Multitasking Medical Service Robot f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. M. A. P. Dunuwila W. M. L. N. Gunawardhana M. D. W. H. Basnayake Y. W. R. Amarasinghe A. G. B. P. Jayasekara H. A. G. C. Premachandra H. Tamura U-Xuan Tan Department of Mechanical Engineering University of Moratuwa Sri Lanka Department of Electrical Engineering University of Moratuwa Sri Lanka Engineering Product Development Pillar Singapore University of Technology and Design Singapore Department of Environmental Robotics University of Miyazaki Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Introducing robotics in the healthcare sector revolutionizes medical services by providing advanced treatments, medication management, and robotic assistance while overcoming resource limitations. In the current healthcare domain, an intermediate robotic communication platform is essential for distributing equal medical services, facilitating remote consultations, and maintaining the integrity of medical education, especially in rural areas and during pandemics. This work introduces ARIS, a multitasking medical service robot designed for telemedicine aspects and to facilitate remote medical education activities such as ward rounds. The prototype called ARIS 1.0 was developed, including a three-wheeled omnidirectional mobile platform, a torso and a novel movable neck mechanism with a face. The prototype robot can generate an online summarized report using its integrated language interaction and IoT-based vital sign extraction modules. The ROS-based semi-autonomous navigation facilitates the robot to be an assistive agent, allowing it to either accompany doctors or visit patients individually. Ultimately, ARIS 1.0 serves telepresence and novel regional language capabilities, specifically Sinhala-based self-communication features. This enables inter-party communication among doctors, medical students, and patients. The functionalities of ARIS 1.0 were validated in an emulated indoor environment to evaluate their feasibility. The results indicate that ARIS 1.0 is feasible for providing remote medical services. Furthermore, the paper discusses several promising research directions related to the proposed concept.

关键词： Torso Hospitals Telemedicine Education Prototypes Feature extraction Multitasking

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Fin-QD: A Computational design Framework for Soft Grippers: Integrating MAP-Elites and High-fidelity FEM

arXiv

引用

arXiv 2023年

作者： Xie, Yue Wang, Xing Iida, Fumiya Howard, David Department of Engineering University of Cambridge United Kingdom Robotics Design and Interaction Group Data61 CSIRO Australia

Computational design can excite the full potential of soft robotics that has the drawbacks of being highly nonlinear from material, structure, and contact. Up to date, enthusiastic research interests have been demonstrated for individual soft fingers, but the frame design space (how each soft finger is assembled) remains largely unexplored. Computationally design remains challenging for the finger-based soft gripper to grip across multiple geometrical-distinct object types successfully. Including the design space for the gripper frame can bring huge difficulties for conventional optimisation algorithms and fitness calculation methods due to the exponential growth of high-dimensional design space. This work proposes an automated computational design optimisation framework that generates gripper diversity to individually grasp geometrically distinct object types based on a quality-diversity approach. This work first discusses a significantly large design space (28 design parameters) for a finger-based soft gripper, including the rarely-explored design space of finger arrangement that is converted to various configurations to arrange individual soft fingers. Then, a contact-based Finite Element Modelling (FEM) is proposed in SOFA to output high-fidelity grasping data for fitness evaluation and feature measurements. Finally, diverse gripper designs are obtained from the framework while considering features such as the volume and workspace of grippers. This work bridges the gap of computationally exploring the vast design space of finger-based soft grippers while grasping large geometrically distinct object types with a simple control scheme. Copyright © 2023, The Authors. All rights reserved.

关键词： Grippers

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Underwater Intention Recognition using Head Motion and Throat Vibration for Supernumerary Robotic Assistance 19

Underwater Intention Recognition using Head Motion and Throa...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Guo, Yuqin Zhang, Rongzheng Qiu, Wanghongjie Asada, Harry Wan, Fang Song, Chaoyang Southern University of Science and Technology Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Guangdong Shenzhen518055 China Southern University of Science and Technology Department of Mechanical and Energy Engineering Guangdong Shenzhen518055 China School of Design Southern University of Science and Technology Guangdong Shenzhen518055 China Massachusetts Institute of Technology Department of Mechanical Engineering CambridgeMA02139 United States SUSTech Institute of Robotics Southern University of Science and Technology Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320695

This study presents a multi-modal mechanism for recognizing human intentions while diving underwater, aiming to achieve natural human-robot interactions through an underwater superlimb for diving assistance. The underwater environment severely limits the divers' capabilities in intention expression, which becomes more challenging when they intend to operate tools while keeping control of body postures in 3D with the various diving suits and gears. The current literature is limited in underwater intention recognition, impeding the development of intelligent wearable systems for human-robot interactions underwater. Here, we present a novel solution to simultaneously detect head motion and throat vibrations under the water in a compact, wearable design. Experiment results show that using machine learning algorithms, we achieved high performance in integrating these two modalities to translate human intentions to robot control commands for an underwater superlimb system. This study's results paved the way for future development in underwater intention recognition and underwater human-robot interactions with supernumerary support. © 2023 IEEE.

关键词： Human robot interaction

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Spherical Cubic Blends: $\mathcal{C}^{2}$-Continuous, Zero-Clamped, and Time-Optimized Interpolation of Quaternions

Spherical Cubic Blends: $\mathcal{C}^{2}$-Continuous, Zero-C...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jonas Wittmann Lukas Cha Marco Kappertz Philipp Seiwald Daniel J. Rixen Department of Mechanical Engineering Technical University of Munich TUM School of Engineering and Design Munich Institute of Robotics and Machine Intelligence (MIRMI) Garching Germany

Modern collaborative robotic applications require robot motions that are predictable for human coworkers. Therefore, trajectories often need to be planned in task space rather than configuration space ( $\mathcal{C}$ -space). While the interpolation of translations in Euclidean space is straightforward, the interpolation of rotations in $SO(3)$ is more complex. Most approaches originating from computer graphics do not exhibit the often desired $\mathcal{C}^{2}$ -continuity in robotics. Our main contribution is a $\mathcal{C}^{2}$ -continuous, zero-clamped interpolation scheme for quaternions that computes a fast synchronized motion given a set of waypoints. As a second contribution, we present modifications to two state-of-the-art quaternion interpolation schemes, Spherical Quadrangle Interpolation (SQUAD) and Spherical Parabolic Blends (SPB), to enable them to compute $\mathcal{C}^{2}$ -continuous, zero-clamped trajectories. In experiments, we demonstrate that for the time optimization of trajectories, our approach is computationally efficient and at the same time computes smooth trajectory profiles.

关键词：

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Three-Dimensional Vehicle Dynamics State Estimation for High-Speed Race Cars under varying Signal Quality

Three-Dimensional Vehicle Dynamics State Estimation for High...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Sven Goblirsch Marcel Weinmann Johannes Betz Department of Mobility Systems Engineering TUM School of Engineering and Design Technical University of Munich Garching Germany Professorship of Autonomous Vehicle Systems TUM School of Engineering and Design Technical University of Munich Garching Germany Munich Institute of Robotics and Machine Intelligence (MIRMI)

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This work aims to present a three-dimensional vehicle dynamics state estimation under varying signal quality. Few researchers have investigated the impact of three-dimensional road geometries on the state estimation and, thus, neglect road inclination and banking. Especially considering high velocities and accelerations, the literature does not address these effects. Therefore, we compare two- and three-dimensional state estimation schemes to outline the impact of road geometries. We use an Extended Kalman Filter with a point-mass motion model and extend it by an additional formulation of reference angles. Furthermore, virtual velocity measurements significantly improve the estimation of road angles and the vehicle’s side slip angle. We highlight the importance of steady estimations for vehicle motion control algorithms and demonstrate the challenges of degraded signal quality and Global Navigation Satellite System dropouts. The proposed adaptive covariance facilitates a smooth estimation and enables stable controller behavior. The developed state estimation has been deployed on a high-speed autonomous race car at various racetracks. Our findings indicate that our approach outperforms state-of-the-art vehicle dynamics state estimators and an industry-grade Inertial Navigation System. Further studies are needed to investigate the performance under varying track conditions and on other vehicle types.

关键词： Temperature measurement Geometry Global navigation satellite system Roads Banking Prediction algorithms Velocity measurement Automobiles State estimation Vehicle dynamics

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