检索结果-内蒙古大学图书馆

Role playing learning for socially concomitant mobile robot navigation

CAAI Transactions on Intelligence Technology 2018年第1期3卷 49-58页

作者： Mingming Li Rui Jiang Shuzhi Sam Ge Tong Heng Lee Department of Electrical and Computer Engineering and the Social Robotics Lab Smart System Institute (SSI) National University of Singapore Singapore 117576 Singapore

In this study, the authors present the role playing learning scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks （NNs） are constructed to parameterise a stochastic policy that directly maps sensory data collected by the robot to its velocity outputs, while respecting a set of social norms. An efficient simulative learning environment is built with maps and pedestrians trajectories collected from a number of real-world crowd data sets. In each learning iteration, a robot equipped with the NN policy is created virtually in the learning environment to play itself as a companied pedestrian and navigate towards a goal in a socially concomitant manner. Thus, this process is called role playing learning, which is formulated under a reinforcement learning framework. The NN policy is optimised end-to-end using trust region policy optimisation, with consideration of the imperfectness of robot＇s sensor measurements. Simulative and experimental results are provided to demonstrate the efficacy and superiority of the proposed method.

关键词：学习环境人工智能发展现状智能技术

来源：评论

学校读者我要写书评

暂无评论

Adaptation and Learning over Complex Networks

引用

IEEE SIGNAL PROCESSING MAGAZINE 2013年第3期30卷 14-15页

作者： Sayed, Ali H. Barbarossa, Sergio Theodoridis, Sergios Yamada, Isao Institute of Robotics and Automatic Information System Nankai University Tianjin China Department of Mechanical and Aerospace Engineering Robotics and Mechatronics Research Laboratory Monash University Clayton VIC Australia School of Mechanical Engineering Tianjin University Tianjin China

The topic of this special issue deals with a subject matter that has been receiving immense attention from various research communities, and not only within the signal processing community. Discusses research and development in the area of the adaption and learning over complex network systems. Extensive research efforts on information processing over graphs exist within other fields such as statistics, computer science, optimization, control, economics, machine learning, biological sciences, and social sciences. Different fields tend to emphasize different aspects and challenges; nevertheless, opportunities for mutual cooperation are abundantly clear, and the role that signal processing plays in this domain is of fundamental importance.

关键词： Special issues and sections Complex networks Learning systems Adaptation models Economics Social network services

来源：评论

学校读者我要写书评

暂无评论

Two types of coaxial self-balancing robots

引用

Journal of Central South University 2013年第11期20卷 2981-2990页

作者：高学山戴福全李潮全 School of Mechatronical Engineering Beijing Institute of Technology State Key Laboratory of Robotics and System (Harbin Institute of Technology) School of Mechanical and Automotive Engineering Fujian University of Technology Navigation and Control Institute of China North Industries Group Corporation

Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in *** designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,*** experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 ***,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.

关键词： mobile robots service robots mechatronic systems robot dynamics control of robotic systems

来源：评论

学校读者我要写书评

暂无评论

Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion

引用

Journal of Bionic engineering 2023年第2期20卷 515-529页

作者： Xiaolin Dai Yixiang Liu Wei Wang Rui Song Yibin Li Jie Zhao School of Control Science and Engineering Shandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of Education Jinan250061China Shandong Research Institute of Industrial Technology Jinan250061China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft *** structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft *** applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside ***,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is ***,the optimal parameters of the module are obtained based on the tensegrity *** deformation ability of the tensegrity module is tested ***,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in *** performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow *** results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.

关键词： Bio-inspired robot Soft robot application Tensegrity structure Pipe crawling

来源：评论

学校读者我要写书评

暂无评论

Micro-IMU based Wireless Body Sensor Network 33

Micro-IMU based Wireless Body Sensor Network

引用

第三十三届中国控制会议

作者： FEI Yunfeng SONG Yinhao XU Lin SUN Guangyi Engineering Design and Research Institute of the Second Artillery Corps. Institute of Robotics and Automatic Information System Nankai UniversityTianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9789881563842

This paper introduces the new design of a Micro Inertial Measurement Unit(-IMU)-based sensor mote for wireless body sensor network(BSN).The-IMU unit consists of a three-axis accelerometer,a three-axis gyroscope MPU6050,and a three-axis electronic compass *** MCU uses a CC2530 which integrates an 8051 core and 2.4GHz *** hardware design and Z-Stack-based software architecture of the sensor mote are discussed in details.A MATLAB program is used to collect experimental data for *** system shows several advantages in high integration,compact volume,and accurate sensing capability,which is critical for wearable inertial measurement and body capture.

关键词： μ-IMU,Wireless Body Sensor Network,MPU6050,AK8975,CC2530

来源：评论

学校读者我要写书评

暂无评论

Model-based contextual reinforcement learning for robotic cooperative manipulation

引用

engineering Applications of Artificial Intelligence 2025年 155卷

作者： Wenrui Wang Qirong Tang Hao Yang Chao Yang Baoping Ma Shuqing Wang Rongfu Lin The Laboratory of Robotics and Multibody System School of Mechanical Engineering Tongji University Shanghai 201804 China Shanghai Institute of Aircraft Mechanics and Control 100 Zhangwu Road Yangpu District Shanghai 200092 China

In large-scale manufacturing and automation, cooperative robotic manipulation requires lower-level controllers to generate specific position or force commands based on real-time information. However, adapting these controllers for different objects or trajectories often demands a complete re-learning process. Contextual Reinforcement Learning (CRL) offers a method to generalize controllers across various contexts, yet it frequently faces instability and inefficiency due to uncertain contact dynamics and external disturbances, especially in real-world industrial environments. To enhance process efficiency and sustainability in robotic systems, a Model-Based Contextual Reinforcement Learning (MCRL) approach is proposed, leveraging metaheuristic solutions to optimize cooperative manipulation. The approach includes a parameterized lower-level control policy, designed using projected inverse dynamics for decoupled control in both constrained and unconstrained subspaces. A probabilistic forward model further enhances the cooperative manipulation process by calculating expected returns and mitigating risk-sensitive biases. Through these optimizations, the MCRL framework efficiently generalizes lower-level policies and improves operational performance. Evaluation on a multi-robot simulation system and a physical dual-arm platform demonstrates the approach’s effectiveness in achieving high-quality, sustainable policies for cooperative manipulation tasks, aligning with the goals of improved efficiency and resource utilization in manufacturing.

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

R-SIEL: a physics-informed learning algorithm for discovering dynamics of serial manipulators

引用

Expert systems with Applications 2025年 287卷

作者： Mohamed Omar Ruifeng Li Ke Wang Ahmed Asker State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Production and Mechanical Design Engineering Department Faculty of Engineering Mansoura University Mansoura 35516 Egypt Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou China 450000 School of Engineering and Applied Sciences Nile University Giza 12573 Egypt

Dynamic modeling is essential for serial manipulators’ design and control. Multi-body dynamics simulators, such as SIMULINK and Adams, can precisely replicate a robot’s dynamic behavior but are incapable of determining its nonlinear dynamic model. This work aims to identify serial manipulators’ dynamics from simulation data, which extends the capability of using an algorithm that combines the Euler-Lagrange method and sparse identification of nonlinear dynamics (SINDy) with physics-based constraints and Akaike Information Criterion (AICc). The algorithm is called Recursive SINDy Euler-Lagrange (R-SIEL). The Euler-Lagrange method is used to construct a preliminary library of symbolic functions. The physics-informed constraints, which utilize the similarities between the symbolic coefficients of the dynamic equations, are employed to decrease the number of functions in the library to get a constrained library. SINDy is equipped with three kinds of constraints: the constrained library, the dataset, and similarities between links’ dynamic equations. The generation of the three distinct datasets—training, constraints, and testing data—uses simulated data from the MATLAB® SIMULINK environment. The algorithms of sequential threshold least-squares and L 0 -minimization are coded with the convex optimization package CVX to determine the best dynamic model. The resulting models are tested with the testing dataset, and based on the lowest AICc, the best model is chosen. The proposed algorithm is applied to different serial manipulators: 2DOF robot, Stanford, PRR robot, ABB SCARA, UR5, and KUKA KR4 AGILUS robots. The resulting model is validated with the dynamic model derived using the conventional Euler-Lagrange method. For the considered manipulators, the R-SIEL algorithm shows a high capability to identify the dynamic model compared to the one identified compared to the previous algorithm.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Approximate feedback linearization control for spatial 6-DOF hydraulic parallel manipulator

引用

Open Mechanical engineering Journal 2011年第1期5卷 117-123页

作者： Yang, Chifu Zheng, Shutao Peter, O. Ogbobe Huang, Qitao Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin 150001 China

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback linearization approach, non-model based method, is proposed in this paper. The mathematical model of spatial hydraulic parallel manipulator is established. The approximate feedback linearization control is designed for the parallel manipulator in joint space, with position and stored force in the previous time step are employed, as a learning tool to yield improved performance. Under Lyapunov theorems, the stability of the presented algorithm is confirmed in the presence of uncertainties. Simulation results show the proposed control is easy and effective to realize path tracking, and it exhibits excellent performance and high efficiency without a precision dynamics of plant. Furthermore, the presented algorithm is well suitable for most industrial applications. © Yang et al.

关键词： Computational efficiency

来源：评论

学校读者我要写书评

暂无评论

Online Calibration for Monocular Vision and Odometry Fusion

Online Calibration for Monocular Vision and Odometry Fusion

引用

2017 IEEE International Conference on Unmanned systems (ICUS)

作者： Xuefeng Wang Haoyao Chen Yanjie Li the School of Mechanical Engineering and Automation in Harbin Institute of Technology Shenzhen and the State Key Laboratory of Robotics and System

ISBN: (纸本)9781538631089;9781538631072

A novel calibration approach for mobile robot equipped with encoder and monocular camera has been proposed in this *** this work,we divide the calibration into four steps:1) a coarse calibration step is employed to estimate the transform between odometry and visual system and the scale of visual system;2) a nonlinear-optimization step is employed to optimize the transform between odometry and visual system;3) during the process of SLAM of mobile robot,the transform between odometry and visual system is optimized with the poses of mobile robot and positions of mappoints in a local map;4) the scale of visual system is optimized after a loop *** method uses only nature features in visual system without any artificial landmark or any prior *** experiment and compare have been performed to illustrate the effectiveness.

关键词： Sensor Fusion Calibration

来源：评论

学校读者我要写书评

暂无评论

A Light Space Manipulator with High Load-to-Weight Ratio: system Development and Compliance Control

引用

Space(Science & Technology) 2021年第1期2021卷 107-118页

作者： Zhiwei Wu Yongting Chen Wenfu Xu The School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In order to meet the requirements of the space environment for the lightweight and load capacity of the manipulator,this paper designs a lightweight space manipulator with a weight of 9.23 kg and a load of 2 *** adopts the EtherCAT communication protocol and has the characteristics of high load-to-weight *** order to achieve constant force tracking under the condition of unknown environmental parameters,an integral adaptive admittance control method is *** control law is expressed as a third-order linear system equation,the operating environment is equivalent to a spring model,and the control error transfer function is *** control performance under the step response is further *** simulation results show that the proposed integral adaptive admittance control method has better performance than the traditional *** has no steady-state error,overcomes the problems caused by nonlinear discrete compensation,and can facilitate analysis in the frequency domain,realize parameter optimization,and improve calculation accuracy.

关键词： overcome load EtherCAT

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：