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

作者： Hassen Nigatu Li Jihao Keqi Zhu Junhan Zhang Haotian Guo Guodong Lu Doik Kim Robot Perception and Grasp Lab School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Research Center of Yuyao Yuyao Technology Innovation Center Robotics Institute of Zhejiang University Ningbo Shi Zhejiang Province China The State Key Laboratory of Fluid Power and Mechatronic Systems and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering School of Mechanical Engineering Zhejiang University Hangzhou China xR Lab Center for Intelligent and Interactive Robotics Artificial Intelligence and Robot Institute Korea Institute of Science and Technology (KIST) South Korea

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3- PRS Parallel Kinematics Machines, which are among the most extensively researched and viably successful manipulators for precision machining applications. Despite the wealth of research on these robotic manipulators, no previous work has demonstrated their stiffness performance within the parasitic motion space. Such an undesired motion influences their stiffness properties, as stiffness is configuration-dependent. Addressing this gap, this paper develops a stiffness model that accounts for both the velocity-level parasitic motion space and the regular workspace. Numerical simulations are provided to illustrate the stiffness characteristics of the manipulator across all considered spaces. The results indicate that the stiffness profile within the parasitic motion space is both shallower and the values are smaller when compared to the stiffness distribution across the orientation workspace. This implies that evaluating a manipulator's performance adequately requires assessing its ability to resist external loads during parasitic motion. Therefore, comprehending this aspect is crucial for redesigning components to enhance overall stiffness.

关键词： Simulation Resists Machining Kinematics Manipulators Numerical simulation Magnetic heads

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Integrated Behavior Planning and Motion Control for Autonomous Vehicles with Traffic Rules Compliance

Integrated Behavior Planning and Motion Control for Autonomo...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Haichao Chen, Kai Li, Yulin Huang, Zhenmin Duan, Jianghua Ma, Jun The Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong Robotics and Autonomous Systems Thrust Guangzhou China The Hong Kong University of Science and Technology Division of Emerging Interdisciplinary Areas Hong Kong Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Shenzhen China

ISBN: (纸本)9798350325706

In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution that complies with complex traffic rules while ensuring driving safety. Inherently, to ensure compliance with traffic rules, an innovative design of potential functions (PFs) is presented to characterize various traffic rules related to traffic lights, traversable and non-traversable traffic line markings, etc. These PFs are further incorporated as part of the model predictive control (MPC) formulation. In this sense, high-level behavior planning is attained implicitly along with motion control as an integrated architecture, facilitating flexible maneuvers with safety guarantees. Due to the well-designed objective function of the MPC scheme, our integrated behavior planning and motion control scheme is competent for various urban driving scenarios and able to generate versatile behaviors, such as overtaking with adaptive cruise control, turning in the intersection, and merging in and out of the roundabout. As demonstrated from a series of simulations with challenging scenarios in CARLA, it is noteworthy that the proposed framework admits real-time performance and high generalizability. © 2023 IEEE.

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Comparison of ROS Local Planners for a Holonomic Robot in Gazebo Simulator 1

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Proceedings of the 8th International Conference on Interactive Collaborative robotics, ICR 2023

作者： Apurin, Artem Abbyasov, Bulat Martínez-García, Edgar A. Magid, Evgeni Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University 35 Kremlyovskaya street Kazan420111 Russia Institute of Engineering and Technology Department of Industrial Engineering and Manufacturing Autonomous University of Ciudad Juarez Manuel Díaz H. No. 518-B Zona Pronaf Condominio Chihuahua Cd Juárez32315 Mexico Tikhonov Moscow Institute of Electronics and Mathematics HSE University 34 Tallinn street Moscow123458 Russia

ISBN: (数字)9783031431111

ISBN: (纸本)9783031431104

A safe robot navigation in a dynamic environment is an essential part of an autonomous exploration path planning. A path planning part of a navigation involves global and local planners. While a global planner finds an optimal path with a prior knowledge of an environment and static obstacles, a local planner recalculates the path to avoid dynamic obstacles. The main goal of a local planning is adjusting an initial plan produced by a global planner in an online fashion. It is a crucial step to ensure a robot operation in dynamic environments because in real world scenarios an environment usually contains people and thus, a dynamic obstacles avoidance must respond quickly and recalculate an actual route. Holonomic robotic platforms are robotic vehicles that use omni-wheels to move in any direction, at any angle, without an additional rotation. These robotic platforms are ideal for working zones with a limited space access. This paper provides a comparison of ROS local planners that support omni-wheel mobile robots: Trajectory Rollout, DWA, EBand, and TEB. The algorithms were compared using a path length, a travelling time and a number of obstacle collisions. Gazebo simulator was used for modeling virtual scenes with dynamic obstacles. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Mobile robots

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Experimental Validation of an Interface for a Human-Robot Interaction Within a Collaborative Task 1

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Proceedings of the 8th International Conference on Interactive Collaborative robotics, ICR 2023

作者： Mustafin, Maksim Chebotareva, Elvira Li, Hongbing Magid, Evgeni Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University 35 Kremlyovskaya st. Kazan420111 Russia Department of Instrument Science and Engineering Shanghai Jiao Tong University Minhang Shanghai200240 China Tikhonov Moscow Institute of Electronics and Mathematics HSE-University 34 Tallinn st. Moscow123458 Russia

ISBN: (数字)9783031431111

ISBN: (纸本)9783031431104

This paper presents a prototype of a non-contact UR robot based Virtual Control (UR-VC) system for collaborative robots of the UR family, which is based on computer vision techniques and a virtual interaction interface. A control method involved specific hand movements within a field of view of a web camera, which was connected to a laptop with the running UR-VC system. We present the UR-VC system and the results of an experimental validation. To inquire if the UR-VC system is comfortable and user-friendly for an interaction with collaborative robots and to study opportunities for a further development and expansion directions of the system, we designed a test case that simulates a joint product assembly in a collaborative workspace. The constructed collaborative workspace included the UR3e robot, the laptop with the running UR-VC system and assembly parts for a collaborative task. 24 participants were involved in the experiments. First, the participants learned how to control the robot using the UR-VC system. After the training, all participants successfully controlled the robot using the proposed interface for performing the collaborative task. Participants’ experience of operating the robot was analyzed via surveys, their unconstrained comments and video recordings of the experiments. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Virtual reality

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Contact-Aware Motion Planning Among Movable Objects

arXiv

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arXiv 2025年

作者： Wang, Haokun Wang, Qianhao Gao, Fei Shen, Shaojie Cheng Kar-Shun Robotics Institute The Hong Kong University of Science and Technology Hong Kong Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China

Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots’ locomotion and can not be applied to tasks where contact is inevitable or intentional. To address these issues, we propose a novel contact-aware motion planning (CAMP) paradigm for robotic systems. Our approach incorporates contact between robots and movable objects as complementarity constraints in optimization-based trajectory planning. By leveraging augmented Lagrangian methods (ALMs), we efficiently solve the optimization problem with complementarity constraints, producing spatial-temporal optimal trajectories of the robots. Simulations demonstrate that, compared to the state-of-the-art method, our proposed CAMP method expands the reachable space of mobile robots, resulting in a significant improvement in the success rate of two types of fundamental tasks: navigation among movable objects (NAMO) and rearrangement of movable objects (RAMO). Real-world experiments show that the trajectories generated by our proposed method are feasible and quickly deployed in different tasks. Copyright © 2025, The Authors. All rights reserved.

关键词： Trajectories

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Functional Connectivity Analysis Revealed Abnormal Brain Network Pattern in Parkinson's Disease with Freezing of Gait 42

Functional Connectivity Analysis Revealed Abnormal Brain Net...

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42nd Chinese Control Conference, CCC 2023

作者： Shu, Zhilin Liu, Jinrui Song, Ting Han, Jianda Yu, Ningbo College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Patients with Parkinson's disease (PD) commonly have deficits in lower-limb movements. Freezing of gait (FOG), a type of gait disturbance of PD, is a complex motor symptom exhibited as inability to generate an effective gait. The mechanism of lower-limb dysfunction of PD, especially FOG, remains to be explored. To investigate the neural mechanisms related to FOG in PD, we evaluated 39 subjects (13 PD patients with FOG, 13 PD patients without FOG, and 13 healthy subjects) based on electroencephalogram (EEG) signals while they performed the pedaling task. We conducted functional connectivity analysis using Magnitude Squared Coherence (MSC) and calculated the metrics to investigate the characteristics of the brain network among the three groups. The results indicated that PD patients were associated with reduced functional integration and segregation of brain network, subserving both motor and cognitive abilities. The reduced functional integration and segregation of cognitive processes were correlated with the severity of FOG. This study revealed the differences in brain networks between PD patients and healthy controls and provided insights into the neural mechanism of FOG. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Electroencephalography

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Pose-Following with Dual Quaternions

Pose-Following with Dual Quaternions

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IEEE Conference on Decision and Control

作者： Jon Arrizabalaga Markus Ryll Autonomous Aerial Systems School of Engineering and Design Technical University of Munich Germany Munich Institute of Robotics and Machine Intelligence (MIRMI Technical University of Munich

This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional freedom to self-regulate the progress along the path is an appealing trade-off. Towards this end, we extend the well-established dual quaternion based pose-tracking method into a pose-following control law. Specifically, we derive the equations of motion for the full pose error between the geometric reference and the rigid body in the form of a dual quaternion and dual twist, and subsequently, formulate an almost globally asymptotically stable control law. The global attractivity of the presented approach is validated in a spatial example, while its benefits over pose-tracking are showcased through a planar case-study.

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Strictly Positive Realness-Based Feedback Gain Design Under Imperfect Input-Output Feedback Linearization in Prioritized Control Problem

Strictly Positive Realness-Based Feedback Gain Design Under ...

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IEEE Conference on Decision and Control

作者： Sang-ik An Gyunghoon Park Dongheui Lee School of Electrical and Computer Engineering University of Seoul Faculty of Electrical Engineering and Information Technology Autonomous Systems at Institute of Computer Technology TU Wien Austria German Aerospace Center (DLR) Institute of Robotics and Mechatronics

The prioritized control problem is a process to find a control strategy for a dynamical system with prioritized multiple outputs, so that it can operate outside its nonsingular domain. Singularity typically leads to imperfect inversion in the prioritized control problem, which in turn results in imperfect input-output feedback linearization. In this paper, we propose a method based on the Kalman-Yakubovich-Popov lemma that compensates nonlinear feedback terms caused by the imperfect inversion of the prioritized control problem. In order to realize this idea, we prove existence of a feedback gain matrix that gives a strictly positive real transfer function whose output matrix is identical to the feedback gain matrix. Our proof is constructive so that a set of such matrices can be found. Also, we provide a numerical approach that gives a larger set of feedback gain matrices and validate the result with numerical examples.

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Instrumented Canes for Parkinson's Disease: a Survey of Commercial and Research Solutions

Instrumented Canes for Parkinson's Disease: a Survey of Comm...

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Bioengineering (ENBENG), Portuguese Meeting in

作者： Simão Pereira Fernanda Coutinho Marco Silva Jorge Barreiros Polytechnic Institute of Coimbra Coimbra Institute of Engineering Coimbra Portugal Polytechnic Institute of Coimbra Coimbra Institute of Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal Polytechnic Institute of Coimbra Coimbra Institute of Engineering INESC Coimbra Coimbra Portugal NOVALINCS NOVA University of Lisbon Caparica Portugal

Instrumented canes have capabilities that allow them to provide functionalities beyond what a traditional cane can offer its user. This study presents a survey of existing instrumented canes, both of commercial and research nature. We identify the major types of features and functionalities offered by these canes, and also focus with particular interest on those offering capabilities aimed at improving the gait of Parkinson's patients, namely the provision of visual, auditory and tactile cues. We find that although special-purpose features dedicated to Parkinson's patients specific needs are commonly experimented with in research contexts, they are usually absent from commercially available solutions, which focus mainly on utility and emergency management features.

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Continuous-Time Ultra-Wideband-Inertial Fusion

arXiv

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arXiv 2023年

作者： Li, Kailai Cao, Ziyu Hanebeck, Uwe D. The Division of Automatic Control Department of Electrical Engineering Linköping University Sweden The Intelligent Sensor-Actuator-Systems Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic derivations of analytic kinematic interpolations and spatial differentiations are further provided. Based thereon, a new sliding-window spline fitting scheme is established for asynchronous multi-sensor fusion and online calibration. We conduct a dedicated validation of the quaternion spline fitting method, and evaluate the proposed system, SFUISE (spline fusion-based ultra-wideband-inertial state estimation), in real-world scenarios using public data set and experiments. The proposed sensor fusion system is real-time capable and delivers superior performance over state-of-the-art discrete-time schemes. We release the source code and own experimental data at https://***/KIT-ISAS/SFUISE . Copyright © 2023, The Authors. All rights reserved.

关键词： Motion estimation

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