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CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots

IEEE robotics and Automation Letters 2023年第11期8卷 7679-7686页

作者： Zhang, Hanna Jiamei Giamou, Matthew Maric, Filip Kelly, Jonathan Burgner-Kahrs, Jessica University of Toronto Continuum Robotics Laboratory Department of Mathematical and Computational Sciences TorontoONM5S 1A1 Canada McMaster University Autonomous Robotics and Convex Optimization Laboratory Department of Computing and Software HamiltonONL8S 4L8 Canada University of Toronto Space and Terrestrial Autonomous Robotic System Laboratory Institute for Aerospace Studies TorontoONM5S 1A1 Canada

The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make them well suited for constrained environments. Solving the inverse kinematics (IK), that is finding robot joint configurations that satisfy desired position or pose queries, is a fundamental challenge in motion planning, control, and calibration for any robot structure. For CRs, the need to avoid obstacles in tightly confined workspaces greatly complicates the search for feasible IK solutions. Without an accurate initialization or multiple re-starts, existing algorithms often fail to find a solution. We present CIDGIKc (Convex Iteration for Distance-Geometric Inverse Kinematics for Continuum Robots), an algorithm that solves these nonconvex feasibility problems with a sequence of semidefinite programs whose objectives are designed to encourage low-rank minimizers. CIDGIKc is enabled by a novel distance-geometric parameterization of constant curvature segment geometry for CRs with extensible segments. The resulting IK formulation involves only quadratic expressions and can efficiently incorporate a large number of collision avoidance constraints. Our experimental results demonstrate >98% solve success rates within complex, highly cluttered environments which existing algorithms cannot account for. © 2016 IEEE.

关键词： End effectors

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Towards a soft robotic skin for autonomous tissue palpation

Towards a soft robotic skin for autonomous tissue palpation

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Campisano, Federico Ozel, Selim Ramakrishnan, Anand Dwivedi, Anany Gkotsis, Nikolaos Onal, Cagdas D. Valdastri, Pietro STORM Lab Department of Mechanical Engineering Vanderbilt University NashvilleTN United States WPI Soft Robotics Lab Department of Mechanical Engineering and Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA United States Department of Robotics and Autonomous System University of Leeds Leeds United Kingdom

ISBN: (纸本)9781509046331

Manual palpation is commonly used to localize tumors and other features buried deep inside organs during open surgery. This approach is not feasible in minimally invasive or robotic surgery, as the contact with the tissue is mediated by instruments. To address this problem, we propose a soft robotic skin (SRS) that can be deployed from a small incision and create a stiffness map in a single step. Such a skin is composed of a matrix of soft robotic tactile elements (SRTEs), each one able to expand and record the tissue response during expansion. In this paper, we firstly prove the feasibility of palpation using a single SRTE. Then, we present and test a soft-suction based anchoring mechanism able to keep the SRS in the desired position in contact with the tissue, allowing surgeons to palpate different sides of the organ. Finally, we detail a calibration method for the SRTE, and assess the feasibility of identifying lumps buried inside a soft tissue phantom, and then inside a chicken liver during an ex-vivo trial. Experimental results show that the SRTE was able to differentiate simulated lumps (up to 3.25 mm deep) from healthy tissue in both the phantom and the ex-vivo trials. These results, added to the ability of the suction gripper to compensate for the expansion forces of each SRTE, are paving the way for soft robotic autonomous tools that can be used for intraoperative mapping of tissue cancers. © 2017 IEEE.

关键词： Tissue

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A map accessibility analysis algorithm for mobile robot navigation in outdoor environment

A map accessibility analysis algorithm for mobile robot navi...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Yu, Xiangyu Wang, Jingchuan Chen, Weidong Wang, Hesheng Key Laboratory of System Control and Information Processing Ministry of Education of China Institute of Medical Robotics Shanghai Jiao Tong University Autonomous Robot Lab Department of Automation Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781728137261

autonomous mobile robots have been widely used to perform specific tasks in recent decades. Map accessibility analysis is necessary for those robots to achieve safe and efficient path planning and navigation, especially in outdoor environment where the terrain can be uneven. Researchers have done sufficient works on the influences of different factors. However, integrating these factors is still a great challenge since the information of some constraints are only needed for specific robot tasks. In this paper, we firstly build a Three Dimensional (3D) Occupancy Grid Map (OctoMap) using a 3D Lidar and encoder-based odometer, and then extract different factors from the OctoMap and real-time lidar data. In order to analyze the relationship between map accessibility and variety of constraints, we design an open system and propose a map accessibility analysis algorithm to integrate different factors which have influence on mobile robot navigation. The system and algorithm are demonstrated to be efficient via experiments. © 2018 IEEE

关键词： Motion planning

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Modeling and Planar Trajectory Tracking Control of an MJ-AUV 42

Modeling and Planar Trajectory Tracking Control of an MJ-AUV

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42nd Chinese Control Conference, CCC 2023

作者： Omar, Zakarya Liu, Ke-Xian Ren, Chao Meng, Qing-Hao Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China Sana'a University Faculty of Engineering Sana'a Yemen

ISBN: (纸本)9789887581543

A Multi-Joint autonomous Underwater Vehicle (MJ-AUV) is designed and equipped with multiple movable segments or joints that allow for greater maneuverability and flexibility in the water. These joints allow the MJ-AUV to change its shape, orientation, and direction of movement, so it can access tight spaces or navigate in complex underwater environments, making it useful for a variety of tasks in the deep sea, such as surveillance, exploration, and maintenance. However, the multiple joint structure of the MJ-AUV complicates the dynamics of the system. Furthermore, the joints' rotation causes misalignment of the cabins, causing deviations in the desired forces and torques. To address these issues, this study focuses on the 2-dimensional (2D) modeling as well as the trajectory tracking controller of the MJ-AUV. In this setting, the proposed controller utilizes a hierarchically structured robust nonlinear back-stepping and sliding-mode approach. Hence, this controller is simulated under various uncertainties and disturbances and the results show that it presents a global finite-time convergence to a bounded neighborhood of the origin for both position and velocity tracking errors, demonstrating its effectiveness and robustness. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： autonomous underwater vehicles

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Development of the Ground Control Station for a quadrotor unmanned aerial vehicle based on Java programming

Development of the Ground Control Station for a quadrotor un...

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31st Chinese Control Conference, CCC 2012

作者： Yang, Liu Bin, Xian Fu, Wang Shibo, Liu Xun, Gu Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous System Tianjin University Tianjin 300072 China

ISBN: (纸本)9789881563811

The four-rotor unmanned aerial vehicle (UAV), known as quadrotor UAV, has been a hot area for the research of unmanned aerial vehicles. Ground Control Station (GCS), as an essential part of quadrotor UAV system, plays a very important role in applications of quadrotor UAV. Most ordinary GCS are stand alone ones, and lack extending abilities. Considering this defect and the real requirements of monitoring and control of UAV, this paper provides a new GCS based on VC++ and Java programming techniques. The major novelty of this GCS is of the Web access to real-time flight data. Plus, the proposed GCS posses the standard functions, such as data receiving in real time, storing the data and displaying the data. Experiment results are provided to show that the GCS operates well, with good human-machine interaction and extending abilities. © 2012 Chinese Assoc of Automati.

关键词： Unmanned aerial vehicles (UAV)

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Embedded Digital Oscilloscope Based on STM32 and μC/OS-Ⅱ

Embedded Digital Oscilloscope Based on STM32 and μC/OS-Ⅱ

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第三届数字制造与自动化国际会议

作者： Shi-jian Guo-mian College of Electrical Engineering and Automation Specialty Nanyang Institute of Technology Lab of Autonomous Robot & Mechatronic System Institute of Robotics Beihang University

This paper introduces one design method of embedded digital oscilloscope based on STM32 and μC/OS-Ⅱ. The hardware adopts STM32 and the custom data buffer to realize the 2 channel data synchronizations. The software uses the μC/OS-Ⅱ platform to realize the multi-duty movement and the real-time processing. The test indicates that this embedded digital oscilloscope supports 2 channel inputs and the sampling frequency scope is 25Hz to 10MHz. Its input voltage is -3.6 V to +3.6 V and it has good man-machine interaction contact surface.

关键词： STM32 μC/OS-II digital oscilloscope embedded system

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Pose estimation based on laser range finder for a quadrotor unmanned aerial vehicle in GPS-denied environment

Pose estimation based on laser range finder for a quadrotor ...

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32nd Chinese Control Conference, CCC 2013

作者： Gu, Xun Xian, Bin Guo, Fang Zhang, Yao Zhang, Xu Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control Tianjin University Tianjin 300072 China

ISBN: (纸本)9789881563835

The feedback of position and attitude information are important for the autonomous control of a quadrotor unmanned aerial vehicle (UAV). But in the GPS-denied environments, it is hard to obtain the quadrotor UAV's position. The pose estimation problem for a quadrotor UAV is addressed in this paper. A miniature laser range finder and a miniature attitude heading reference system (AHRS) unit are employed as the main onboard sensors. And a new pose estimation algorithm is developed to provide accurate estimation for the UAV's position and attitude which can be utilized for the flight controller in the GPS-denied environments. © 2013 TCCT, CAA.

关键词： Global positioning system

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Immersion and Invariance based Adaptive Attitude Tracking Control of a Quadrotor UAV in the Presence of Parametric Uncertainty

Immersion and Invariance based Adaptive Attitude Tracking Co...

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第三十三届中国控制会议

作者： Bo Zhao Bin Xian Yao Zhang Xu Zhang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

ISBN: (纸本)9781479947249

In this paper, a new adaptive controller for a quadrotor unmanned aerial vehicle(UAV) is presented via Immersion and Invariance(I&I) approach. The quadrotor's dynamic model is subjected to some uncertain parameters such as the inertial moments, aerodynamic damping coefficients and so on. In particular, the mass-eccentric effects by the payloads are also *** all these uncertainties above, the proposed adaptive controller is still capable of driving the quadrotor UAV's attitude asymptotically to a desired trajectory. The stability analysis is performed by Lyapunov techniques and LaSalle's invariance theorem. Numerical simulation results illustrate the good tracking performance of the proposed scheme.

关键词： quadrotor,UAV,adaptive control,immersion and invariance,I&I

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UAV-based Odor Source Localization in Multi-Building Environments Using Simulated Annealing Algorithm

UAV-based Odor Source Localization in Multi-Building Environ...

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第三十九届中国控制会议

作者： Zi-Zhen Yang Tao Jing Qing-Hao Meng Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University

A single unmanned-aerial-vehicle(UAV) based odor source localization(OSL) method for outdoor multi-building environments was proposed. The simulated annealing(SA) algorithm was introduced in this problem in consideration of the difficulties of relatively large search space, turbulent airflow in the building environment, and local concentration extrema near the building walls. To avoid the effect of rotating UAV rotors on airflow, a tunable diode laser absorption spectroscopy(TDLAS) rather than the contact gas sensor was used to collect odor information remotely. Moreover, a three-mode(plume finding, tracking, and escaping local extremum) searching framework was designed in the SA-based OSL method to equip the UAV with abilities of traversing the searching area and escaping local extrema rapidly. Simulation results on a robot active olfaction simulator show that, the UAV could effectively escape the local extremum, track the plume and localize the odor source in the area of 30×30×10 m with an average time of about 119 steps and an average error of 1.56 m.

关键词： Odor source localization active olfaction UAV multi-building environments simulated annealing

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