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Gait-Planning-Based Path Planning for Crocodile-Inspired Pneumatic Soft Robots

Gait-Planning-Based Path Planning for Crocodile-Inspired Pn...

引用

International Conference on Applied Nonlinear Dynamics, Vibration, and Control, ICANDVC 2023

作者： Ma, Yize Wu, Qingxiang Qiu, Zehao Sun, Ning College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789819705535

In many cases, soft robots with their inherent flexibility, ease of interaction, and high adaptability in complex environments, receive widespread attention. Among them, gait planning is a key technology to ensure the performance of soft robots. This paper proposes a gait-planning-based path planning method for crocodile-inspired pneumatic soft robots. Based on the crocodile-inspired pneumatic soft robots, the motion characteristics of the robot with different gaits are analyzed. Then, a path planning method using A* algorithm is proposed according to the environmental characteristics of road width, obstacles, and other road information. The experimental environment is built independently to complete robot path planning and gait selection and verify the effectiveness of the proposed gait-planning-based path planning method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Motion planning

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A Crocodile-Like Pneumatic Soft Crawling Robot with Three-Dimensional Deformation Actuators 42

A Crocodile-Like Pneumatic Soft Crawling Robot with Three-Di...

引用

42nd Chinese Control Conference, CCC 2023

作者： Qiu, Zehao Wu, Qingxiang Liu, Zhuoqing Yang, Tong Sun, Ning Institute of Robotics and Automatic Information Systems Nankai University College of Artificial Intelligence Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Pneumatic soft crawling robots (PSCRs) have excellent application prospects in disaster relief and resource exploration due to their adaptability to complex environments. However, the crawling ability of PSCRs, including speed, load capacity, etc., is difficult to meet the requirements of these applications. To this end, a crocodile-like PSCR with three-dimensional deformation actuators is designed. First, based on the analysis of the crocodile structure, four leg actuators and a body actuator are designed, respectively, and their fabrication processes are described in detail. Meanwhile, a complete structure of the crocodile-like PSCR including connectors and air circuits is assembled. Then, the geometric and finite element models of leg actuators are established to analyze bending characteristics. On this basis, according to the relationship among the actuators, different gaits are designed to achieve moving forward, turning, and other movements. Finally, experimental results verify that leg actuators are fabricated accurately and the crocodile-like PSCR has satisfactory crawling ability. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Machine design

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Visual Detection for Non-Ferrous Metal Ingots With Wavelet Denoising and Contour Corner Extraction 7

Visual Detection for Non-Ferrous Metal Ingots With Wavelet D...

引用

7th Asia-Pacific Conference on Intelligent Robot systems, ACIRS 2022

作者： Qiu, Zehao Sun, Ning Zhang, Chenglin Sang, Wenchuang Fang, Yongchun Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (数字)9781665485197

ISBN: (纸本)9781665485197

To realize the intelligent grinding of non-ferrous metal ingots, visual detection algorithms are required to provide the information of metal ingots for robotic manipulators. However, metal ingots in moving molds on ingot casting lines are accompanied by complicated backgrounds and continuous changes, which demands higher accuracy and stronger robustness of visual detection. Based on two kinds of metal ingots and the analysis of metal ingot images, a wavelet-based method with an improved threshold and threshold function is utilized to reduce noises. Afterward, the edge information of metal ingots is obtained by edge line segment detection, and the detected edges are selected according to their positions and lengths. Moreover, in order to extract the contour corners of metal ingots, basic contours are detected and further fitted into metal ingot contours. Finally, experimental results verify that the proposed metal ingot detection algorithm achieves satisfactory accuracy, robustness, and real-time performance for different images and metal ingots. © 2022 IEEE.

关键词： Metals

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Reliable observer-based control against sensor failures for fractional order systems 41

Reliable observer-based control against sensor failures for ...

引用

第41届中国控制会议

作者： Bingxin Li Xiangfei Zhao Yaowei Liu Xin Zhao Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the paper,the state and sensor failure observer for fractional order systems with order 0 <α <1 and 1 <α<2 is proposed to estimate the system state and sensor failures at the same *** general,unbounded sensor faults will inevitably lead to system ***,it is very necessary to study the reliable controller for fractional order systems against sensor *** the linear matrix inequality concept and the augmented system method,the sensor faults can be in any form,even unbounded.A reliable observer-based controller based on the state and sensor failures estimation is proposed,which can make the system work well regardless of whether the sensor *** α=1,methods proposed in the paper are equivalent to these of the integer order systems,scilicet,our methods can be extended to integer order ***,a simulation example is used to demonstrate the efficiency of the present methods.

关键词： Fractional order systems state and sensor failures linear matrix inequality reliable observer-based controller

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Modeling and Linear Active Disturbance Rejection Control of a New Morphing Quadrotor

Modeling and Linear Active Disturbance Rejection Control of ...

引用

International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Sun, Haosheng He, Chunhui Wu, Qingxiang Chen, He Sun, Ning Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China School of Artificial Intelligence Hebei University of Technology Tianjin300401 China

ISBN: (纸本)9789811966125

In many practical applications like rescues, the morphing quadrotors perform better than conventional quadrotors in complex and variable environments, such as traveling through narrow gaps. However, their dynamic properties are more complicated. In this paper, a new morphing quadrotor with foldable arms is presented. Then, the dynamic model of the morphing quadrotor is established. Moreover, the linear active disturbance rejection control (LADRC) method is used to achieve stable flight during morphing, and its performance is compared with the PID method with the simulations. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Disturbance rejection

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Dynamic Modeling and Analysis for Parallel Robots Actuated by Pneumatic Artificial Muscles 1

引用

3rd International Conference on Control, Instrumentation and Mechatronics Engineering, CIM 2022

作者： Wang, Qihang Liu, Gendi Yang, Tong Chen, He Qin, Yanding Sun, Ning Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China School of Artificial Intelligence Hebei University of Technology Tianjin300401 China

ISBN: (数字)9789811939235

ISBN: (纸本)9789811939228

As a kind of pneumatic actuators, pneumatic artificial muscles (PAMs) possess remarkable merits, such as lightweight, compliance, higher security. However, with significant characteristics, e.g., strong bearing capacity, satisfactory dynamic performance, parallel robots used in industry are mostly actuated by traditional actuators. In this case, the compliance of PAMs is missing from parallel robots actuated by traditional actuators;thus, combining parallel robots with PAMs can make full use of the advantages of flexible structures and operation reliability. However, due to the complicated characteristics of PAMs and complex structures of parallel robots, the modeling of PAM-actuated parallel robots is an intractable problem. Therefore, in this paper, we use Lagrange’s method and the three-element model to obtain the dynamic model of PAM-actuated parallel robots. Then, by utilizing a proportional derivative (PD) control method with gravity compensation, simulation results validate the feasibility of the proposed model. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Pneumatic actuators

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A robotic Blind Patch-Clamp System Based on Cranial Opening Localization and Micropipette Guidance

A Robotic Blind Patch-Clamp System Based on Cranial Opening ...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Guo, Zijian Li, Ruimin Qiu, Jinyu Sun, Mingzhu Zhao, Xin Zhao, Qili Nankai University Tianjin300350 China Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9781665481090

The blind patch-clamp is a powerful technique for studying ion channel function, offering crucial insights into the mechanisms underlying brain neural circuits and the factors contributing to neurological disorders of alive animals. However, existing blind patch-clamp systems usually lack an effective animal head fixation mechanism compatible with conventional in vitro patch-clamp system setup. Additionally, the random location of the craniotomy relative to the exposed skull makes manual positioning of the cranial opening time-consuming and labor-intensive. The small size of the cranial opening further increases the risk of the micropipette tip scraping against the adjacent skull during operation, leading to tip breakage and experimental failure. In this paper, we present a universal mouse head fixer and a robotic blind patch clamp operation process, including a robotic cranial opening positioning and a fast micropipette approaching trajectory generation method. In this process, the resistance value of micropipette tip is used as feedback to guide the its step-by-step operation in vivo. This method not only achieves faster operation speed, but also guarantees a success rate comparable to that of professional manual operation. © 2024 IEEE.

关键词： Clamping devices

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Improved Potential-Field-Based Planning for robotic Bronchoscopy

Improved Potential-Field-Based Planning for Robotic Bronchos...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Liu, Chong Wang, Xiangyu Xu, Siang Qin, Yanding Wang, Hongpeng Institute of Robotics and Automatic Information System Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9781665481090

The optimal path is crucial for the success of bronchoscopy intervention surgery. During preoperative examination, the surgeon plans an intervention path to ensure smooth access for the flexible endoscope to the lesion site. However, in clinical settings, experience accumulation and operational training are the main basis for surgeons to plan the intervention path of flexible endoscopes, which is subjective and lacks scientific basis. To improve the safety and accessibility of the intervention path, this paper proposes an improved potential field method based on central multi nodes (CMN-PFM). This algorithm includes multi-scale constraints based on structural characteristics of airways, which can be beneficial for determining the optimal path among multiple potential paths. Meanwhile, this algorithm can effectively solve the problems of local minimization and oscillations. The experimental results show that the CMN-PFM algorithm has excellent planning performance and can be applied to clinical medical data to design the optimal path for robotic flexible endoscopes. © 2024 IEEE.

关键词： Endoscopy

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Depth-Awareness Shared Self-Supervised Bronchial Orifice Segmentation for Center Detection in Vision-Based robotic Bronchoscopy 14

Depth-Awareness Shared Self-Supervised Bronchial Orifice Seg...

引用

14th IEEE International Conference on Cyber technology in Automation, Control, and Intelligent systems, CYBER 2024

作者： Xu, Siang Wang, Xiangyu Qin, Yanding Wang, Hongpeng Yu, Ningbo Han, Jianda Institute of Robotics and Automatic Information System Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9798331506056

Limited by the complex porous structure of the bronchi, supervised segmentation of the bronchial orifice is difficult to perform. Since there is no gold standard for definition of the edges of bronchial orifices, manual labeling can lead to inconsistencies in calibration standards. This paper presents a self-supervised bronchial orifice segmentation method based on depth information and synthetic data. The method uses synthetic data and synthetic depth maps to train CNN and can be directly applied to real image data. We also propose an Attention Guidance Module that uses depth information to guide the neural network attention distribution. We manually segmented the bronchial orifice region as ground truth and counted the offset of the center point between the segmentation result and ground truth. The results show that the mIoU of the segmentation result is 79.52, the dice coefficient of the result is 0.86 which is better than 0.77 of the previous method, and the pixel deviation of the center point in a 128 × 128 image is 3.92 which is better than 4.35 of the previous method. © 2024 IEEE.

关键词： Neural networks

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Dynamic Modeling for 3-Dimensional Cooperative Dual Boom Cranes: Analysis and Verification

Dynamic Modeling for 3-Dimensional Cooperative Dual Boom Cra...

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18th IEEE International Conference on Advanced Motion Control, AMC 2024

作者： Liu, Zhuoqing Yang, Tong Wu, Qingxiang Wu, Yinan Chen, He Sun, Ning College of Artificial Intelligence Nankai University Tianjin China School of Artificial Intelligence Hebei University of Technology Tianjin China The Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9798350342819

To expand the current limited research of three-dimensional (3D) cooperative dual boom cranes (CDBCs), this paper proposes a dynamic model of CDBCs in 3D space for the first time, which provides a foundation for precise motion control. Based on geometric constraint analysis and the Lagrangian modeling method, the proposed model accurately describes the dynamic characteristics of practical systems. Moreover, coordinated boom motion trajectories are designed for preliminary control realization of 3D CDBCs, which facilitates engineering applications. Finally, simulations and hardware experiments are implemented under different working conditions, which verifies the effectiveness of the proposed model and trajectories. © 2024 IEEE.

关键词： Motion control

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