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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

An overview of perception methods for horticultural robots: From pollination to harvest

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arXiv 2018年

作者： Ahn, Ho Seok Dayoub, Feras Popović, Marija MacDonald, Bruce A. Siegwart, Roland Sa, Inkyu Department of Electrical and Computer Engineering CARES University of Auckland 368 Khyber Pass Rd Newmarket Auckland1023 New Zealand Department of Mechanical and Process Engineering Institute of Robotics and Intelligent Systems Autonomous Systems Lab. ETH Zurich Switzerland

Horticultural enterprises are becoming more sophisticated as the range of the crops they target expands. Requirements for enhanced efficiency and productivity have driven the demand for automating on-field operations. However, various problems remain yet to be solved for their reliable, safe deployment in real-world scenarios. This paper examines major research trends and current challenges in horticultural robotics. Specifically, our work focuses on sensing and perception in the three main horticultural procedures: Pollination, yield estimation, and harvesting. For each task, we expose major issues arising from the unstructured, cluttered, and rugged nature of field environments, including variable lighting conditions and difficulties in fruit-specific detection, and highlight promising contemporary studies. Based on our survey, we address new perspectives and discuss future development trends. Copyright © 2018, The Authors. All rights reserved.

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An insulation diagnosis method for battery pack based on battery model

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IOP Conference Series: Materials Science and Engineering 2020年第1期793卷

作者： Yanhui Zhang Qingpeng Chen Xiao Liu Zhile Yang Shifeng Guo Wei Feng Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China

The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment, which will reduce the insulation between battery pack and chassis, and will affect the performance of on-board equipment and electronic control unit, resulting in heat accumulation effect of leakage circuit and even vehicle fire. Therefore, it is critical to develop a real-time, accurate and reliable detection device to monitor the insulation resistance of the high-voltage system of electric vehicles, which is beneficial to the normal operation of electrical equipment, the safe operation of vehicles and the personal safety of passengers. In this work, an online estimation method of insulation resistance based on battery model is proposed.

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Corrections to “Iris Center Localization Using Energy Map With Image Inpaint Technology and Post-Processing Correction”

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IEEE Access 2020年 8卷 76595-76595页

作者： Lihong Dai Jinguo Liu Zhaojie Ju Yang Gao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China School of Electronic and Information Engineering University of Science and Technology Liaoning Anshan China School of Computing University of Portsmouth Portsmouth U.K. Space Technology for Autonomous and Robotic Systems Laboratory (STAR LAB) Surrey Space Centre University of Surrey Guildford U.K.

In the above article [1] , the affiliations of authors Lihong Dai and Yang Gao need to be corrected. Moreover, the biography of Yang Gao needs to be corrected. The specific corrections are as follows.

关键词： Robots Biographies Aerospace electronics Automation Manufacturing Research and development Object recognition

Probabilistic Recurrent State-Space Models

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arXiv 2018年

作者： Doerr, Andreas Daniel, Christian Schiegg, Martin Nguyen-Tuong, Duy Schaal, Stefan Toussaint, Marc Trimpe, Sebastian Bosch Center for Artificial Intelligence Renningen Germany Max Planck Institute for Intelligent Systems Stuttgart/Tübingen Germany Computational Learning and Motor Control Lab University of Southern California United States Machine Learning and Robotics Lab University of Stuttgart Germany

State-space models (SSMs) are a highly expressive model class for learning patterns in time series data and for system identification. Deterministic versions of SSMs (e.g. LSTMs) proved extremely successful in modeling complex time series data. Fully probabilistic SSMs, however, are often found hard to train, even for smaller problems. To overcome this limitation, we propose a novel model formulation and a scalable training algorithm based on doubly stochastic variational inference and Gaussian processes. In contrast to existing work, the proposed variational approximation allows one to fully capture the latent state temporal correlations. These correlations are the key to robust training. The effectiveness of the proposed PR-SSM is evaluated on a set of realworld benchmark datasets in comparison to stateof-the-art probabilistic model learning methods. Scalability and robustness are demonstrated on a high dimensional problem. Copyright © 2018, The Authors. All rights reserved.

关键词： State space methods

Fast trajectory optimization for legged robots using vertex-based ZMP constraints

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arXiv 2017年

作者： Winkler, Alexander W. Farshidian, Farbod Pardo, Diego Neunert, Michael Buchli, Jonas Agile & Dexterous Robotics Lab Institute of Robotics and Intelligent Systems ETHZ Zurich Switzerland

This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure simultaneously. We introduce a vertex-based representation of the support-area constraint, which can treat arbitrarily oriented point-, line-, and area-contacts uniformly. This generalization allows us to create motions such quadrupedal walking, trotting, bounding, pacing, combinations and transitions between these, limping, bipedal walking and push-recovery all with the same approach. This formulation constitutes a minimal representation of the physical laws (unilateral contact forces) and kinematic restrictions (range of motion) in legged locomotion, which allows us to generate various motion in less than a second. We demonstrate the feasibility of the generated motions on a real quadruped robot. Copyright © 2017, The Authors. All rights reserved.

关键词： Aerodynamics

Oncilla robot: A versatile open-source quadruped research robot with compliant pantograph legs

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arXiv 2018年

作者： Sprowitz, Alexander Tuleu, Alexandre Ajallooeian, Mostafa Vespignani, Massimo Mockel, Rico Eckert, Peter D'Haene, Michiel Degrave, Jonas Nordmann, Arne Schrauwen, Benjamin Steil, Jochen Ijspeert, Auke Jan Lausanne Switzerland Dynamic Locomotion Group Max Planck Institute for Intelligent Systems Stuttgart Germany Department of Knowledge Engineering Maastricht University Netherlands Department of Electronics and Information Systems Ghent University Gent Belgium CoR-Lab Research Institute for Cognition and Robotics Bielefeld University Germany

We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control. Animal legged locomotion in rough terrain is clearly shaped by sensor feedback systems. Results with Oncilla robot show that agile and versatile locomotion is possible without sensory signals to some extend, and tracking becomes robust when feedback control is added (Ajallooeian, 2015b). By incorporating mechanical and control blueprints inspired from animals, and by observing the resulting robot locomotion characteristics, we aim to understand the contribution of individual components. Legged robots have a wide mechanical and control design parameter space, and a unique potential as research tools to investigate principles of biomechanics and legged locomotion control. But the hardware and controller design can be a steep initial hurdle for academic research. To facilitate the easy start and development of legged robots, Oncilla-robot's blueprints are available through open-source. The robot's locomotion capabilities are shown in several scenarios. Specifically, its spring-loaded pantographic leg design compensates for overdetermined body and leg postures, i.e. during turning maneuvers, locomotion outdoors, or while going up and down slopes. The robot's active degree of freedom allow tight and swift direction changes, and turns on the spot. Presented hardware experiments are conducted in an open-loop manner, with little control and computational effort. For more versatile locomotion control, Oncilla-robot can sense leg joint rotations, and legtrunk forces. Additional sensors can be included for feedback control with an open communication protocol interface. The robot's customized actuators are designed for robust actuation, and efficient locomotion. It trots with a cost of transport of 3.2 J=(Nm), at a speed of 0.63ms-1(Froude numb

关键词： Blueprints

Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control

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arXiv 2017年

作者： Giftthaler, Markus Farshidian, Farbod Sandy, Timothy Stadelmann, Lukas Buchli, Jonas Agile & Dexterous Robotics Lab Institute of Robotics and Intelligent Systems ETH Zürich Switzerland

This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic feedback controllers by solving a Constrained Sequential Linear Quadratic Optimal Control problem. The employed algorithm features high efficiency through a continuous-time formulation that benefits from adaptive step-size integrators and through linear complexity in the number of integration steps. In a first application example, we solve kinematic trajectory planning problems for a 26 DoF wheeled robot. In a second example, we apply Constrained SLQ to a real-world mobile manipulator in a receding-horizon optimal control fashion, where we obtain optimal controllers and plans at rates up to 100 Hz. Copyright © 2017, The Authors. All rights reserved.

关键词： Manipulators

A projection approach to equality constrained iterative linear quadratic optimal control

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A projection approach to equality constrained iterative line...

IEEE-RAS International Conference on Humanoid Robots

作者： Markus Giftthaler Jonas Buchli Agile & Dexterous Robotics Lab Institute of Robotics and Intelligent Systems ETH Zürich Switzerland

ISBN: (纸本)9781538646793

This paper presents a state and state-input constrained variant of the discrete-time iterative Linear Quadratic Regulator (iLQR) algorithm, with linear time-complexity in the number of time steps. The approach is based on a projection of the control input onto the nullspace of the linearized constraints. We derive a fully constraint-compliant feedforward-feedback control update rule, for which we can solve efficiently with Riccati-style difference equations. We assume that the relative degree of all constraints in the discrete-time system model is equal to one, which often holds for robotics problems employing rigid-body dynamic models. Simulation examples, including a 6 DoF robotic arm, are given to validate and illustrate the performance of the method.

关键词： Optimal control Manganese Robots System dynamics Mathematical model Heuristic algorithms Trajectory