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IEEE International Conference on robotics and Automation (ICRA)

作者： Iván D. Changoluisa Caiza Ana Milas Marco A. Montes Grova Francisco Javier Pérez-Grau Tamara Petrovic University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Advanced Center for Aerospace Technologies (CATEC) Aerospace Technology Park of Andalusia Seville Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment.

关键词： Three-dimensional displays Video on demand Navigation Warehousing Buildings Inspection Web sites

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Leg Transmission Mechanism for Enhanced Load-Carrying Capacity: Knee Joint Torque Optimization Design

Leg Transmission Mechanism for Enhanced Load-Carrying Capaci...

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IEEE International Conference on Development and Learning, ICDL

作者： Quan Huang Yixuan Guo Haoyun Yan Yuquan Leng Shoubin Liu Chenglong Fu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

This study proposes an optimized design for the leg transmission structure of a quadruped robot, aiming to enhance the load-bearing capacity of the knee joint. Firstly, the dynamic simulation of the single leg's load-lifting process in the quadruped robot is conducted, indicating higher torque demands on the knee joint during this process. Therefore, a leg transmission mechanism, combining a ball screw mechanism and a crank-slider mechanism, is designed to effectively amplify the torque of the knee joint motor. Subsequently, a virtual prototype of the quadruped robot, incorporating this design, is constructed using Adams software. The foot trajectory of the robot is pre-planned, and the joint trajectories are obtained through inverse kinematics, using them as the driving functions for the quadruped robot to perform actions such as load lifting, static standing, and diagonal walking gait. Finally, the knee joint torque and corresponding motor driving torque of the quadruped robot's legs are measured and compared. The results demonstrate that the driving torque of the knee joint motor is effectively amplified by the leg transmission mechanism, with the maximum amplification observed during the initial stage of load lifting, reaching a magnification factor of nearly 7.66 times. This verifies the effectiveness of the proposed leg transmission mechanism in enhancing the load-bearing capacity of the knee joint.

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3D Path Planning of the Solar Powered UAV in the Urban-Mountainous Environment with Multi-Objective and Multi-Constraint Based on the Enhanced Sparrow Search Algorithm Incorporating the Levy Flight Strategy

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Guidance, Navigation and Control 2024年第1期4卷 149-175页

作者： Pengyang Xie Ben Ma Bingbing Wang Jian Chen Gang Xiao College of Engineering China Agricultural UniversityBeijing 100083P.R.China State Key Laboratory of Clean Energy Utilization Zhejiang UniversityHangzhou 310027P.R.China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province College of Biosystems Engineering and Food ScienceZhejiang UniversityHangzhou 310058P.R.China Key Laboratory of Smart Agricultural Technology(Yangtze River Delta) Ministry of Agriculture and Rural AffairsNanjing 210044P.R.China Key Laboratory of Smart Agricultural Technology in Tropical South China Ministry of Agriculture and Rural AffairsGuangzhou 510642P.R.China State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191P.R.China

In response to practical application challenges in utilizing solar-powered unmanned aerial vehicle(UAV)for remote sensing,this study presents a three-dimensional path planning method tailored for urban-mountainous *** into account constraints related to the solar-powered UAV,terrain,and mission objectives,a multi-objective trajectory optimization model is transferred into a single-objective optimization problem with weight factors and multiconstraint and is developed with a focus on three key indicators:minimizing trajectory length,maximizing energy flow efficiency,and minimizing regional risk ***,an enhanced sparrow search algorithm incorporating the Levy flight strategy(SSA-Levy)is introduced to address trajectory planning challenges in such complex *** simulation,the proposed algorithm is compared with particle swarm optimization(PSO)and the regular sparrow search algorithm(SSA)across 17 standard test functions and a simplified simulation of urban-mountainous *** results of the simulation demonstrate the superior effectiveness of the designed improved SSA based on the Levy flight strategy for solving the established single-objective trajectory optimization model.

关键词： Solar powered UAV multi-objective optimization problem single-objective optimization problem multi-constraint sparrow search algorithm Levy flight strategy

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Pipe-finder: Adaptive, Lightweight Pipe Robot Integrating Origami Anisotropic Stiffness Structure

Pipe-finder: Adaptive, Lightweight Pipe Robot Integrating Or...

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IEEE International Conference on robotics and Biomimetics

作者： Yifei Chen Deyu Yang Ziyu Liu Boyu Yang Hongqiang Wang Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Southern Marine Science and Engineering Guangdong Laboratory Guangzhou China

Pipeline inspection poses challenges that require robots to navigate complex environments. However, existing pipeline robots with the rigid bodies often face limitations in terms of efficiency, flexibility, and adaptability considering the significant size variations and complex terrains in pipelines. This paper introduces a novel design of wheel pipeline robots that addresses these limitations by incorporating the Origami Anisotropic Stiffness Structure (OASS). Inspired by the desert iguana's skin, the OASS offers a unique combination of rigidity and flexibility in different directions, making it an ideal skeletal framework for the robot with only 146 g weight. By integrating the OASS with PLA and resin materials, we enhance the robot's support and enable it to effectively navigate diverse pipeline configurations. Experimental results demonstrate the robot's capability to maneuver through pipelines of different diameters, U-shaped turns, obstacles, and even vertical sections. This research provides a promising solution for inspection tasks in complex pipeline systems.

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Flexible Multi-Channel Electrical Stimulation System for Assisting Grasping in Patients with Hemiplegia

Flexible Multi-Channel Electrical Stimulation System for Ass...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Jinxin Sun Guojing Huang Chengyu Lin Wei Pan Kong Hoi Cheng Guotao Gou Shuyan Huang Yuquan Leng Chenglong Fu Zhencheng Chen Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin University of Electronic Technology Guilin China Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Stroke patients are unable to perform gripping actions effectively as normal individuals due to impaired hand function. Electrical stimulation is currently a relatively effective rehabilitation method, but there is still room for improvement in aspects such as grip control precision and grip posture selection. Therefore, we propose a multi-channel electrical stimulation system to achieve precise control of hand gripping in stroke patients and assist in hand function rehabilitation. The pressure-controlled constant current source electrical stimulation system is proposed and a flexible wearable 16-channel hand FPC electrical stimulation patch is designed according to the distribution of hand muscles. The MCU controls an external DAC chip to generate voltage to drive the pressure-controlled constant current source, thereby generating adjustable biphasic symmetrical stimulation pulse waveforms. The FPC transmits the generated stimulation pulses to the corresponding stimulation points to achieve precise electrical stimulation of specific points. Through three comparative experiments, the results indicate that precise control of finger movement angles has been achieved by adjusting the stimulation current and frequency. The flexible multi-channel hand electrical stimulation system offers a solution for restoring motor function in patients with hemiplegia.

关键词： Mechatronics Thumb Electrical stimulation Bending Stroke (medical condition) Muscles Motors Voltage control Frequency control Robots

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IMU-Based Prediction of Multiple Grasping Gesture Intentions for Enhanced Functional Electrical Stimulation Control*

IMU-Based Prediction of Multiple Grasping Gesture Intentions...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Guotao Gou Kong Hoi Cheng Jinxin Sun Chengyu Lin Wei Pan Guojing Huang Yuquan Leng Yixuan Guo Chenglong Fu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin University of Electronic Technology Guilin China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Stroke survivors frequently face the challenge of regaining hand-grasping functions, which are crucial for performing daily activities. While Functional Electrical Stimulation (FES) has demonstrated promise for hand function recovery, the application of online control methods tailored to varied daily grasps remains underexplored. In response, our study presents a refined framework utilizing an inertial measurement unit (IMU) for the real-time recognition of grasp intentions in stroke patients. Data on arm trajectories and orientations preceding diverse grasping actions were gathered from three healthy individuals, segmented by acceleration to determine high-accuracy intervals for grasp prediction. The Support Vector Classification (SVC) model emerged as a superior method for intent recognition. By segmenting data based on acceleration, our model’s general accuracy improved. Moreover, the time required to achieve a stable accuracy rate exceeding 95% was reduced from 0.8 s to 0.2 s. This research lays the groundwork for future advancements in online gesture recognition systems. The successful implementation of FES based on SVC-model predictions mark a significant step toward intuitive and adaptive rehabilitation therapies for stroke patients.

关键词： Accuracy Static VAr compensators Grasping Stroke (medical condition) Real-time systems Iron Data models Trajectory Neuromuscular stimulation Context modeling

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MMG-HCI: A Non-contact Non-intrusive Real-Time Intelligent Human-Computer Interaction System 1st

MMG-HCI: A Non-contact Non-intrusive Real-Time Intelligent H...

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1st CAAI International Conference on Artificial Intelligence, CICAI 2021

作者： Gong, Peixian Wang, Chunyu Zhang, Lihua Institute of AI and Robotics Fudan University Shanghai China Ji Hua Laboratory Foshan China Shanghai Engineering Research Center of AI and Robotics Shanghai China Engineering Research Center of AI and Robotics Ministry of Education Beijing China Engineering Research Center of AI and Unmanned Vehicle Systems of Jilin Province Changchun China

ISBN: (纸本)9783030930455

With the continuous development of science and technology, human-computer interaction (HCI) technology has been paid more and more attention by researchers. Traditional HCI methods, such as torch-screen, speech recognition and so on, have the problem of inconvenient application in some scenarios. The research of HCI technology based on millimeter-wave radar makes up for the deficiency of current HCI, and plays a very important role in its development. The main tasks of this paper are as follows: 1, Design of non-contact and non-invasive real-time human activity recognition system MMG-HCI. By analyzing the working features of millimeter-wave radar and combining them with the principle of computer multi-process synchronization, we designed a real-time system which integrates millimeter-wave radar data acquisition, point cloud data visualization, deep learning model inference and HCI. 2, Construction of millimeter-wave radar gesture dataset. Since there is no suitable open-source dataset at present, we collect and build our own dataset through the real-time system. 3, Training graph neural network (GNN) for HAR based on millimeter-wave radar. In order to classify the mmWave radar point cloud more accurately, we use the best performance MMPointGNN as the deep learning inference model of a real-time system. Experiments and demonstration show that we have designed an efficient, accurate, non-contact and non-invasive real-time HCI system. © 2021, Springer Nature Switzerland AG.

关键词： Human computer interaction

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E-3DGS: Gaussian Splatting with Exposure and Motion Events

arXiv

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arXiv 2024年

作者： Yin, Xiaoting Shi, Hao Bao, Yuhan Bing, Zhenshan Liao, Yiyi Yang, Kailun Wang, Kaiwei State Key Laboratory of Modern Optical Instrumentation Zhejiang University China School of Robotics National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China College of Information Science and Electronic Engineering Zhejiang University China The Chair of Robotics AI and Real-Time Systems Technical University of Munich Germany

Estimating Neural Radiance Fields (NeRFs) from images captured under optimal conditions has been extensively explored in the vision community. However, robotic applications often face challenges such as motion blur, insufficient illumination, and high computational overhead, which adversely affect downstream tasks like navigation, inspection, and scene visualization. To address these challenges, we propose E-3DGS, a novel event-based approach that partitions events into motion (from camera or object movement) and exposure (from camera exposure), using the former to handle fast-motion scenes and using the latter to reconstruct grayscale images for high-quality training and optimization of event-based 3D Gaussian Splatting (3DGS). We introduce a novel integration of 3DGS with exposure events for high-quality reconstruction of explicit scene representations. Our versatile framework can operate on motion events alone for 3D reconstruction, enhance quality using exposure events, or adopt a hybrid mode that balances quality and effectiveness by optimizing with initial exposure events followed by high-speed motion events. We also introduce EME-3D, a real-world 3D dataset with exposure events, motion events, camera calibration parameters, and sparse point clouds. Our method is faster and delivers better reconstruction quality than event-based NeRF while being more cost-effective than NeRF methods that combine event and RGB data by using a single event sensor. By combining motion and exposure events, E-3DGS sets a new benchmark for event-based 3D reconstruction with robust performance in challenging conditions and lower hardware demands. The source code and dataset will be available at https://***/MasterHow/E-3DGS. Copyright © 2024, The Authors. All rights reserved.

关键词： Gaussian distribution

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STRONG: Synchronous and asynchronous RObust Network localization, under Non-Gaussian noise

arXiv

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arXiv 2021年

作者： Soares, Cláudia Gomes, João Institute for Systems and Robotics Laboratory for Robotics and Engineering Systems IST Universidade de Lisboa Portugal

Real-world network applications must cope with failing nodes, malicious attacks, or nodes facing corrupted data — data classified as outliers. Our work addresses these concerns in the scope of the sensor network localization problem where, despite the abundance of technical literature, prior research seldom considered outlier data. We propose robust, fast, and distributed network localization algorithms, resilient to high-power noise, but also precise under regular Gaussian noise. We use a Huber M-estimator, thus obtaining a robust (but nonconvex) optimization problem. We convexify and change the problem representation, to allow for distributed robust localization algorithms: a synchronous distributed method that has optimal convergence rate and an asynchronous one with proven convergence guarantees. A major highlight of our contribution lies on the fact that we pay no price for provable distributed computation neither in accuracy, nor in communication cost or convergence speed. Simulations showcase the superior performance of our algorithms, both in the presence of outliers and under regular Gaussian noise: our method exceeds the accuracy of alternative approaches, distributed and centralized, even under heavy additive and multiplicative outlier noise. Copyright © 2021, The Authors. All rights reserved.

关键词： Gaussian noise (electronic)

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Modeling and simulation of a mechanism for suppressing the flipping problem of a jumping robot

arXiv

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arXiv 2024年

作者： Li, Qi Peng, Liang Wu, Zhiyuan Ye, Pengda Zhang, Weitao Xu, Yi Shi, Qing Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China The Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing100081 China

To improve the environmental adaptability of small-sized robots, jumping is widely used to achieve high moving efficiency and obstacle surmounting ability. However, the flipping problem commonly existing in jumping robots will limit their application prospects. Instead of attaching additional control mechanisms and actuators, we propose an elastic passive joint (EPJ) to prevent the robot from flipping. By integrating a revolute joint, a switch and a spring at the root of the hindleg, the leg can rotate around the body during take-off phase, in which the large angular velocity will be inhibited due to the absorbed angular kinetic energy by the spring. Then, dynamic modeling and series of simulation are carried out to optimize the position and stiffness of EPJ. The simulation results reveal that, with EPJ worked, the zero-point of the angular velocity will appear when changing the position of the axis slightly. Meanwhile, the optimal spring stiffness of 1566 N/m will ensure a non-flipping jumping motion, in which the jumping height is reduced but the jumping distance is improved. Copyright © 2024, The Authors. All rights reserved.

关键词： Angular velocity

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