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arXiv 2024年

作者： Nigatu, Hassen Jihao, Li Zhu, Keqi Zhang, Junhan Guo, Haotian Lu, Guodong Kim, Doik Robot Perception and Grasp Lab School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao Robotics Institute Zhejiang University Yuyao Technology Innovation Center No.479 Ye Shan Road Yuyao Zhejiang Province Ningbo China The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering The Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province Zhejiang University Hangzhou310027 China Korea Republic of

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. © 2024, CC BY.

关键词： Manipulators

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Hydrogel-elastomer-based stretchable strain sensor fabricated by a simple projection lithography method

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International Journal of Smart and Nano Materials 2021年第3期12卷 256-268页

作者： Zhenqing Li Xiangnan He Jianxiang Cheng Honggeng Li Yuan-Fang Zhang Xiaojuan Shi Kai Yu Hui Ying Yang Qi Ge Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenChina Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenChina Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore Department of Mechanical Engineering University of Colorado DenverDenverCOUSA National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbinP.R.China

Stretchable strain sensor detects a wide range of strain variation and is therefore a key component in various *** traditional ones made of elastomers doped with conductive components or fabricated with liquid conductors,ionically conductive hydrogel-based strain sensors remain conductive under large deformations and are ***,dehydration is a challenging issue for the *** have developed hydrogel-elastomer-based strain sensors where an elastomer matrix encapsulates a hydrogel circuit to prevent its ***,the reported multistep approaches are generally *** group recently reported a multimaterial 3D printing approach that enables fast fabrication of such sensors,yet requires a self-built digital-light-processing-based multimaterial 3D ***,we report a simple projection lithography method to fabricate hydrogel-elastomer-based stretchable strain sensors within 5 *** method only requires a UV projector/lamp with photomasks;the chemicals are commercially available;the protocols for preparing the polymer precursors are friendly to users without chemistry ***,the manufacturing flexibility allows users to readily pattern the sensor circuit and attach the sensor to a 3D printed soft pneumatic actuator to enable strain sensing on the *** proposed approach paves a simple and versatile way to fabricate hydrogel-elastomer-based stretchable strain sensors and flexible electronic devices.

关键词： Ionically conductive hydrogel stretchable strain sensor projection lithography

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ASI-Seg: Audio-Driven Surgical Instrument Segmentation with Surgeon Intention Understanding

ASI-Seg: Audio-Driven Surgical Instrument Segmentation with ...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhen Chen Zongming Zhang Wenwu Guo Xingjian Luo Long Bai Jinlin Wu Hongliang Ren Hongbin Liu Centre for Artificial Intelligence and Robotics (CAIR) Hong Kong Institute of Science & Innovation Chinese Academy of Sciences China Department of Electronic Engineering Chinese University of Hong Kong China State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS) Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Surgical instrument segmentation is crucial in surgical scene understanding, thereby facilitating surgical safety. Existing algorithms directly detected all instruments of predefined categories in the input image, lacking the capability to segment specific instruments according to the surgeon’s intention. During different stages of surgery, surgeons exhibit varying preferences and focus toward different surgical instruments. Therefore, an instrument segmentation algorithm that adheres to the surgeon’s intention can minimize distractions from irrelevant instruments and assist surgeons to a great extent. The recent Segment Anything Model (SAM) reveals the capability to segment objects following prompts, but the manual annotations for prompts are impractical during the surgery. To address these limitations in operating rooms, we propose an audio-driven surgical instrument segmentation framework, named ASI-Seg, to accurately segment the required surgical instruments by parsing the audio commands of surgeons. Specifically, we propose an intention-oriented multimodal fusion to interpret the segmentation intention from audio commands and retrieve relevant instrument details to facilitate segmentation. Moreover, to guide our ASI-Seg segment of the required surgical instruments, we devise a contrastive learning prompt encoder to effectively distinguish the required instruments from the irrelevant ones. Therefore, our ASI-Seg promotes the workflow in the operating rooms, thereby providing targeted support and reducing the cognitive load on surgeons. Extensive experiments are performed to validate the ASI-Seg framework, which reveals remarkable advantages over classical state-of-the-art and medical SAMs in both semantic segmentation and intention-oriented segmentation. The source code is available at https://***/Zonmgin-Zhang/ASI-Seg.

关键词： Instruments Semantic segmentation Source coding Surgery Contrastive learning Manuals Cognitive load Safety Intelligent robots Biomedical imaging

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Decision-Making Framework For AMR Fleet Size In Manufacturing Environments

Decision-Making Framework For AMR Fleet Size In Manufacturin...

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Catarina Rema Romão Santos Henrique Piqueiro Diogo Miguel Matos Paulo Moura Oliveirat Pedro Costa Manuel F. Silva Fillipe L. Ribeiro CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Department of Engineering University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal ISEP Polytechnic of Porto rua Dr. António Bernardino de Almeida Porto Portugal JPM Industry Vale de Cambra Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Industry 4.0 is transforming manufacturing environments, with robotics being a key technology that enhances various capabilities. The flexibility of Autonomous Mobile Robots has led to the rise of multi-robot systems in industrial settings. Considering the high cost of these robots, it is essential to determine the best fit of number and type before making any major investments. Simulation and modeling are valuable decision-support tools, allowing the simulation of different setups to address robot fleet sizing issues. This paper introduces a decision-support framework that combines a fleet manager software stack with the FlexSim simulator, helping decision-makers determine the most suitable mobile robots fleet size tailored to their needs. Unlike previous approaches, the developed solution integrates the same real robot coordination software in both simulation and actual deployment, ensuring that tested scenarios accurately reflect real-world conditions. A case study was conducted to evaluate the framework, involving multiple tasks of loading and unloading materials within a warehouse. Five different scenarios with varying fleet sizes were simulated, and their performances assessed. The analysis concluded that, for the case study under consideration, a fleet of three robots was the most suitable, considering relevant key performance indicators. The results confirmed that the developed solution is an effective alternative for addressing the problem and represents a novel technology with no prior state-of-the-art equivalents.

关键词： Service robots Robot kinematics Decision making Dynamic scheduling Software Batteries Software reliability Resource management Mobile robots Autonomous robots

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Spatial motion planning with Pythagorean Hodograph curves

Spatial motion planning with Pythagorean Hodograph curves

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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

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper presents a two-stage prediction-based control scheme for embedding the environment’s geometric properties into a collision-free Pythagorean Hodograph spline, and subsequently finding the optimal path within the parameterized free space. The ingredients of this approach are twofold: First, we present a novel spatial path parameterization applicable to any arbitrary curve without prior assumptions in its adapted frame. Second, we identify the appropriateness of Pythagorean Hodograph curves for a compact and continuous definition of the path-parametric functions required by the presented spatial model. This dual-stage formulation results in a motion planning approach, where the geometric properties of the environment arise as states of the prediction model. Thus, the presented method is attractive for motion planning in dense environments. The efficacy of the approach is evaluated according to an illustrative ***: https://***/Sl6x8l7RJK8

关键词： Adaptation models Computational modeling Aerospace electronics Predictive models Cost function Planning Splines (mathematics)

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Learning Fast and Precise Pixel-to-Torque Control

arXiv

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arXiv 2022年

作者： Bleher, Steffen Heim, Steve Trimpe, Sebastian Intelligent Control Systems Group Max Planck Institute for Intelligent Systems Stuttgart Germany Biomimetic Robotics Lab Massachusetts Institute of Technology Cambridge United States Institute for Data Science in Mechanical Engineering RWTH Aachen University Aachen Germany

In the field, robots often need to operate in unknown and unstructured environments, where accurate sensing and state estimation (SE) becomes a major challenge. Cameras have been used to great success in mapping and planning in such environments, as well as complex but quasi-static tasks such as grasping, but are rarely integrated into the control loop for unstable systems. Learning pixel-to-torque control promises to allow robots to flexibly handle a wider variety of tasks. Although they do not present additional theoretical obstacles, learning pixel-to-torque control for unstable systems that that require precise and high bandwidth control still poses a significant practical challenge, and best practices have not yet been established. To help drive reproducible research on the practical aspects of learning pixel-to-torque control, we propose a platform that can flexibly represent the entire process, from lab to deployment, for learning pixel-to-torque control on a robot with fast, unstable dynamics: the vision-based Furuta pendulum. The platform can be reproduced with either off-the-shelf or custom-built hardware. We expect that this platform will allow researchers to quickly and systematically test different approaches, as well as reproduce and benchmark case studies from other labs. We also present a first case study on this system using DNNs which, to the best of our knowledge, is the first demonstration of learning pixel-to-torque control on an unstable system with update rates faster than 100 Hz. A video synopsis can be found online at https://***/S2llScfG-8E, and in the supplementary material. © 2022, CC BY.

关键词： Torque control

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Adaptive Gait Training of a Lower Limb Rehabilitation Robot Based on Human–Robot Interaction Force Measurement

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Cyborg and Bionic systems 2024年第1期5卷 271-281页

作者： Fuyang Yu Yu Liu Zhengxing Wu Min Tan Junzhi Yu School of Artificial Intelligence University of Chinese Academy of SciencesBeijingChina The Key Laboratory of Cognition and Decision Intelligence for Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina School of Mechanical Engineering&Automation Northeastern UniversityShenyangChina State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and RoboticsBIC-ESATCollege of EngineeringPeking UniversityBeijingChina

The existing fixed gait lower limb rehabilitation robots perform a predetermined walking trajectory for patients,ignoring their residual muscle *** enhance patient participation and safety in training,this paper aims to develop a lower limb rehabilitation robot with adaptive gait training capability relying on human–robot interaction force ***,a novel lower limb rehabilitation robot system with several active and passive driven joints is developed,and 2 face-to-face mounted cantilever beam force sensors are employed to measure the human–robot interaction ***,a dynamic model of the rehabilitation training robot is constructed to estimate the driven forces of the human lower leg in a completely passive ***,based on the theoretical moment from the dynamics and the actual joint interaction force collected by the sensors,an adaptive gait adjustment method is proposed to achieve the goal of adapting to the wearer’s movement ***,interactive experiments are carried out to validate the effectiveness of the developed rehabilitation training robot *** proposed rehabilitation training robot system with adaptive gaits offers great potential for future highquality rehabilitation training,e.g.,improving participation and safety.

关键词： active passive driven joints lower limb rehabilitation robot human robot interaction adaptive gait training human robot interaction force measurementfirstlya force measurement lower limb rehabilitation robots

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Multiple Jumping and Perching of a Miniature Mobile Robot

Multiple Jumping and Perching of a Miniature Mobile Robot

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IEEE International Conference on robotics and Biomimetics

作者： Longlong Hu Lingqi Tang Hao Chen Yao Li Bing Li Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Many insects and miniature robots can traverse through narrow spaces via jumping motion; however, successful jumping and landing remains challenging in small-scale. No jumping robot within 90 g have yet demonstrated multiple jumping and perching successfully. Here, we demonstrate continuous jumping and perching of a miniature robot. The origami-inspired structure was manufactured by smart composite microstructure technology. A novel jumping mechanism was designed to load adjustable jump energy actuated by only one motor. A perching mechanism with two adhesive pads was designed to passively couple with the jumping mechanism, achieving perching on the ground and automatically detaching before the next jump. The jumping mechanism achieved adjustable jumping energy, corresponding to jumping height from 0.7 cm to 36.4 cm. The perching mechanism provided successful landing within a wide range (when velocity angle according to vertical direction $=18^{\circ}$ , the velocity magnitude $\leq 3.4\mathrm{m}/\mathrm{s}$ , the body angle $\leq 30^{\circ}$ ). $\text{Unlike}$ typical jumping robots performing uncontrollable landing and free-rolling, our robot kept its body up-righted during the whole movement and avoided free-rolling after landing. The self-contained prototype had 18 g of mass, 6.5 cm of body height, and 36.4 cm of maximum jumping height. Finally, an eccentric motor was integrated to perform multiple omnidirectional jumping and perching movements; this represents significant improvement of motion ability for small-scale mobile robots.

关键词： Insects Biomimetics Prototypes Motors Mobile robots Microstructure

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Evaluation of visual slam methods in usar applications using ros/gazebo simulation 15th

Evaluation of visual slam methods in usar applications using...

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15th International Conference on Electromechanics and robotics Zavalishin’s Readings, ERZR 2020

作者： Safin, Ramil Lavrenov, Roman Martínez-García, Edgar Alonso Intelligent Robotics Department Higher Institute for Information Technology and Intelligent Systems Kazan Federal University Kazan Russia Laboratorio de Robotica Institute of Engineering and Technology Universidad Autonoma de Ciudad Juarez Ciudad Juarez32310 Mexico

ISBN: (纸本)9789811555794

The problem of determining the position of a robot and at the same time building the map of the environment is referred to as SLAM. A SLAM system generally outputs the estimated trajectory (a sequence of poses) and the map. In practice, it is hard to obtain ground-truth for the map;hence, only trajectory ground-truth is considered. There are various works that provide datasets to evaluate SLAM algorithms in different scenarios including sensor configurations, robots, and environments. Dataset collection in a real-world environment is a complicated task, which requires an elaborate sensor and robot configuration. Different SLAM systems demand various sensors resulting in the problem of finding an appropriate dataset for their evaluation. Thus, in this paper, a solution that is based on ROS/Gazebo simulations is proposed. Two indoor environments with flat and uneven terrain to evaluate laser range and visual SLAM systems are created. Changing the sensor configuration and the environment does not require an elaborate setup. The results of the evaluation for two popular SLAM methods—ORB-SLAM2 and RTAB-Map—are presented. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2021.

关键词： Robots

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A Feed-forward Switched Adaptive Filtering configuration for Underwater Acoustic Signal Denoising Technique with low-complexity

A Feed-forward Switched Adaptive Filtering configuration for...

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OCEANS

作者： Deekshitha Adusumalli Swapnil Maiti S. Hannah Pauline Gerard Dooly Samiappan Dhanalakshmi Department of Electronics and Communication Engg. College of Engineering and Technology Faculty of Engineering and Technology SRM Institute of Science and Tech. SRM Nagar Kattankulathur Kanchipuram Chennai India Center for Robotics and Intelligent Systems (CRIS) University of Limerick Limerick Ireland

The Underwater acoustic communication is difficult by virtue of the noise that exists undersea. This can be caused by both natural phenomena, like waves and currents, as well as artificial sources such as ships and boats. In order to reduce or eliminate this interference, it is necessary to process the signal before further processing. One way of doing this is through denoising. However, because noise constantly fluctuates in intensity, predicting its future behavior becomes almost impossible. To address this problem, we propose a new method for filtering underwater communications using an superlative feedfoward switched adaptive filter model using Signed Error variant of Least Mean Square (SELMS) and Signed Data variant of Least Mean Square (SDLMS) algorithm that takes into account signed form LMS values. The effectiveness of the filter is tested using a clean fish sound that has been tainted by noises from underwater vessels from the ShipsEar database.

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