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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Wang, Ruochao Quan, Xiaolong Xiao, Hang Du, Rongjie Qin, Boyang Shi, Qing Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China

ISBN: (纸本)9798350372601

Constrained by the performance of actuators and controllers, achieving stable walking in small-scale quadruped robots has been more challenging compared to larger ones. Rats, in their natural habitat, can achieve stable walking even in extreme environments like narrow spaces by utilizing crawling motion to lower their center of mass. Inspired by this, we conducted a comparative study of the walking stability between crawling and trot gaits on a ratinspired robot named SQuRo. Initially, we collected motion data for both crawling and trot gaits of SQuRo in a simulated environment. Subsequently, we analyzed the dynamic stability of the robot using Poincaré maps. The results indicate that SQuRo's phase trajectories converged into closed loops with periodicity under both gaits, demonstrating the presence of limit cycles. Moreover, fixed points were observed in the Poincaré maps for both gaits, suggesting the dynamic stability of quadrupedal locomotion. Compared to the trot gait, the convergence loops of the crawling gait phase trajectories were smaller, indicating more stable locomotion. We tested the performance of SQuRo's crawling gait in challenging outdoor environments, where SQuRo demonstrated stable walking consistently. This work provides a new approach for achieving stable walking in small-scale quadruped robots and can be readily applied to controller design across different sizes of legged robots. © 2024 IEEE.

关键词： Rats

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Object-Centric Image to Video Generation with Language Guidance

arXiv

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arXiv 2025年

作者： Villar-Corrales, Angel Plepi, Gjergj Behnke, Sven Autonomous Intelligent Systems Computer Science Institute VI – Intelligent Systems and Robotics Center for Robotics Lamarr Institute for Machine Learning and Artificial Intelligence Germany

Accurate and flexible world models are crucial for autonomous systems to understand their environment and predict future events. Object-centric models, with structured latent spaces, have shown promise in modeling object dynamics and interactions, but often face challenges in scaling to complex datasets and incorporating external guidance, limiting their applicability in robotics. To address these limitations, we propose TextOCVP, an object-centric model for image-to-video generation guided by textual descriptions. TextOCVP parses an observed scene into object representations, called slots, and utilizes a text-conditioned transformer predictor to forecast future object states and video frames. Our approach jointly models object dynamics and interactions while incorporating textual guidance, thus leading to accurate and controllable predictions. Our method’s structured latent space offers enhanced control over the prediction process, outperforming several image-to-video generative baselines. Additionally, we demonstrate that structured object-centric representations provide superior controllability and interpretability, facilitating the modeling of object dynamics and enabling more precise and understandable predictions. Videos and code are available at https://***/TextOCVP/. © 2025, CC BY.

关键词： Digital elevation model

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Learning Rat-Like Behavior for a Small-Scale Biomimetic Robot

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Engineering 2022年第10期17卷 232-243页

作者： Zihang Gao Guanglu Jia Hongzhao Xie Qiang Huang Toshio Fukuda Qing Shi Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China

Existing biomimetic robots can perform some basic rat-like movement primitives(MPs)and simple behavior with stiff combinations of these *** mimic typical rat behavior with high similarity,we propose parameterizing the behavior using a probabilistic model and movement ***,an analysis of fifteen 10 min video sequences revealed that an actual rat has six typical behaviors in the open field,and each kind of behavior contains different bio-inspired combinations of eight *** used the softmax classifier to obtain the behavior-movement hierarchical probability ***,we specified the MPs using movement parameters that are static and *** obtained the predominant values of the static and dynamic movement parameters using hierarchical clustering and fuzzy C-means clustering,*** predominant parameters were used for fitting the rat spinal joint trajectory using a second-order Fourier series,and the joint trajectory was generalized using a back propagation neural network with two hidden ***,the hierarchical probability model and the generalized joint trajectory were mapped to the robot as control policy and commands,*** implemented the six typical behaviors on the robot,and the results show high similarity when compared with the behaviors of actual rats.

关键词： Biomimetic Bio-inspired robot Neural network learning system Behavior generation

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Microparticle orientation and pattern in a combined acoustic and magnetic field 26

Microparticle orientation and pattern in a combined acoustic...

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26th International Conference on Miniaturized systems for Chemistry and Life Sciences, MicroTAS 2022

作者： Zhang, Zhiyuan Ahmed, Daniel Acoustic Robotics Systems Laboratory Institute of Robotics and Intelligent Systems Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland

ISBN: (纸本)9781733419048

Microparticle manipulation actuating by external fields, magnetic fields and acoustic fields, are attractive for lab-on-chip systems and microscale medical applications since they allow for the manipulation of microparticles without contact, and unaffected by object opacity. The combination of both fields could overcome the limitations encountered by single actuation methods and provide more freedoms of operations. Here we demonstrate the intentional control over the local orientation and pattern of microparticles in a bulk liquid medium, impelled by a combination of magnetic and acoustic fields. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized systems for Chemistry and Life Sciences. All rights reserved.

关键词： Acoustic fields

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Integrated Batching, Pick Sequencing and Robot Assignment for Robotic Warehouse Automation 8

Integrated Batching, Pick Sequencing and Robot Assignment fo...

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8th IEEE International Conference on Information and Communication Technology, CICT 2024

作者： Gupta, Rishi Kant, Surya Singh, Shubhang Kala, Rahul Nandi, Gora Chand Indian Institute of Information Technology Allahabad Center for Intelligent Robotics Allahabad India ABV-Indian Institute of Information Technology and Management Gwalior Center for Autonomous Systems Gwalior India

ISBN: (纸本)9798331531539

Future warehouses will see robots autonomously picking up all the items ordered by the user and delivering them for packaging, sorting and delivery. This requires warehouses to schedule the robots to autonomously cater to all customer orders. In this paper, we solve the problem of batching orders, where several user orders are clubbed into one to be collectively picked by one robot, scheduling the visit of the robot to pick up the desired items and assigning one robot to carry the operation. Each robot is assumed to have a small payload capacity that restricts the number of orders that can be batched. Each item is assumed to be found at several locations, and the robot can select anyone of the locations. The proposed solution uses heuristics to create initial batches that are further optimised by using Genetic Algorithm. Genetic Algorithm also jointly optimises the batching and item pick sequencing. The selection of one out of several sites is done by using a Dynamic Programming approach. The solution is post processed by using a Dynamic Programming solution for optimally scheduling the robot visits within every batch. The experimental results show that the proposed solution scales to a large number of orders because of the use of heuristics, while the results are better than the use of greedy heuristic approaches. © 2024 IEEE.

关键词： Dynamic programming

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Entropy Seeking Constrained Multiagent Reinforcement Learning 23

Entropy Seeking Constrained Multiagent Reinforcement Learnin...

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23rd International Conference on Autonomous Agents and Multiagent systems, AAMAS 2024

作者： Aydeniz, Ayhan Alp Marchesini, Enrico Amato, Christopher Tumer, Kagan Collaborative Robotics and Intelligent Systems Institute Oregon State University United States Laboratory for Information Decision Systems Massachusetts Institute of Technology United States Khoury College of Computer Sciences Northeastern University United States

Multiagent Reinforcement Learning (MARL) has been successfully applied to domains requiring close coordination among many agents. However, real-world tasks require safety specifications that are not generally considered by MARL algorithms. In this work, we introduce an Entropy Seeking Constrained (ESC) approach aiming to learn safe cooperative policies for multiagent systems. Unlike previous methods, ESC considers safety specifications while maximizing state-visitation entropy, addressing the exploration issues of constrained-based solutions. © 2024 International Foundation for Autonomous Agents and Multiagent systems.

关键词： Reinforcement learning

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Optimal Placement of Foot Pressure Sensors for Lower-Limb Exoskeletons Based on Multi-Objective Particle Swarm Optimization Algorithm 6

Optimal Placement of Foot Pressure Sensors for Lower-Limb Ex...

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6th International Conference on Artificial Intelligence in Information and Communication, ICAIIC 2024

作者： Song, Ha-Yoon Chung, Hyun-Joon Jeon, Kwang-Woo Kim, Tae-Hwan Kim, Junyoung Yoo, Jin-Yeol Ryu, Jae-Kwan Korea Institute of Robotics Technology Convergence AI Robotics RD Division Seoul06372 Korea Republic of LIG Nex1 Unmanned/Intelligent Robotic Systems RD Seongnam13488 Korea Republic of

ISBN: (纸本)9798350344349

This study proposes an optimization method for sensor placement in lower-limb exoskeleton robots, aiming to improve the accuracy of the Center of Pressure (CoP) estimation during various human activities. Utilizing the Multi-Objective Particle Swarm Optimization (MOPSO) algorithm, the proposed method identifies an optimal sensor count, as the Root Mean Square Error (RMSE) decelerates when the sensor count exceeds 6. Application of this method resulted in a reduction of the Mean Absolute Error (MAE) to 4.13 mm and 8.92 mm on the mediolateral and anteroposterior axes respectively, a 22.8% improvement in CoP estimation accuracy compared to traditional anatomical methods. Further analysis revealed that weight parameters influence the CoP estimation accuracy, suggesting an enhancement in sensor placement efficiency through the adjustment of individual objectives' significance. The proposed sensor placement optimization method is expected to significantly enhance the performance of lower-limb exoskeleton robots and increase user satisfaction. Moreover, it could substantially contribute to the enhancement of human-computer interaction in robot control by providing a more accurate reflection of the user's intentions. These findings highlight the importance of continuing research in the field of lower-limb exoskeleton robots. © 2024 IEEE.

关键词： Mean square error

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Method of Forming Paths for Uniform Surface Treatment for Objects of Complex Shape 25

Method of Forming Paths for Uniform Surface Treatment for Ob...

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25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Grigorev, Ivan Mursalimov, Eduard Laboratory of Intelligent Information Systems for Marine Robots M.D. Ageev Institute of Marine Technology Problems FEB RAS Vladivostok Russia Laboratory of Robotics and Intelligent Control Systems Sevastopol State University Laboratory of Intelligent Information Systems for Marine Robots M.D. Ageev Institute of Marine Technology Problems FEB RAS Vladivostok Russia

ISBN: (纸本)9798350389234

In most cases, tool impact paths for surface treatment (painting, milling, laser hardening, etc.) represent a set of continuous spatial curves lying on the surface to be treated. For uniform processing, adjacent curves from this set must be equidistant from each other. This paper presents a new method for covering a given polygonal mesh with equidistant lines based on given initial lines (in the form of a set of vertices on this mesh) and a given distance between adjacent lines, that is measured by Euclidean distance. The method is based on constructing spheres from each vertex of the initial line and removing the vertices of the mesh that fall into at least one of the spheres: the desired equidistant line will be represented by not removed vertices lying on the spheres. To construct each subsequent equidistant line, the last constructed line is used as the initial one: thus, the entire mesh is covered along the surface, despite the fact that the distance between adjacent lines is measured in space. Due to this, the proposed method, unlike the existing ones, works with surfaces of any complexity and requires less computing resources. Ordering the points of the constructed lines, to obtain the reference points of the paths that can be executed by the manipulator, is also presented. © 2024 IEEE.

关键词： Spheres

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Shape effect of prodrug nanoassemblies on treatment efficacy of cancer therapy

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Nano Research 2025年第2期18卷 616-626页

作者： Fengxiang Liu Rongzheng Liu Xiaoyuan Fan Xia Wang Kaiyuan Wang Hainan Zhao Hao Ye Shunzhe Zheng Xiao Kuang Yinxian Yang Haotian Zhang Qiming Kan Zhonggui He Jian Chen Jin Sun Department of Pharmaceutics Wuya College of InnovationShenyang Pharmaceutical UniversityShenyang 110016China School of Pharmacy Shenyang Pharmaceutical UniversityShenyang 110016China Nephrology department The First Affiliated Hospital of Jinzhou Medical UniversityJinzhou 121000China Multi-Scale Robotics Lab(MSRL) Institute of Robotics&Intelligent Systems(IRIS)ETH Zurich 8092Switzerland School of Life Science and Biopharmaceutics Shenyang Pharmaceutical UniversityShenyang 110016China Joint International Research Laboratory of Intelligent Drug Delivery Systems Ministry of EducationShenyang 110016China School of Pharmacy Shanghai Jiao Tong UniversityShanghai 200240China

The tumor microenvironment-sensitive prodrug-based nanoparticles(NPs)have emerged as a promising drug delivery system(DDS).The shape of these particles plays a crucial role in their in vivo ***,non-spherical organic NPs are rarely reported due to the inherent flexibility and variability of organic ***,we fabricate reduction-sensitive prodrug NPs and explore the impact of their morphology properties on their in vivo *** are self-assembled into spherical NPs with distearoyl phosphoethanolamine-PEG2000(DSPE-PEG2k),or into rod-shaped NPs with D-a-tocopherol polyethylene glycol 2000 succinate(TPGS2k)due to the stronger binding *** comparison with spherical NPs,the endocytosis of rod-shaped NPs predominantly relies on caveolae-mediated pathways rather than clathrin-mediated ones,potentially avoiding degradation by ***,the rod-shaped NPs exhibit prolonged circulation time,increased tumor accumulation,and enhanced antitumor *** current findings reveal the significant effect of particle shape on the behavior of prodrug NPs and introduce a novel paradigm for high-efficacy cancer therapy of prodrug NPs.

关键词： camptothecin self-assembly prodrug-based nanoparticles nanorod cancer therapy

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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