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

作者： Zhuo Chen Ni Ou Jiaqi Jiang Shan Luo Department of Engineering Robot Perception Lab Centre for Robotics Research King’s College London London United Kingdom State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing tactile sensors which may have incurred damage or aging. However, the conventional neural-network-based force calibration method necessitates a large volume of force-labeled tactile images to minimize force prediction errors, with the need for accurate Force/Torque measurement tools as well as a time-consuming data collection process. To address this challenge, we propose a novel deep domain-adaptation force calibration method, designed to transfer the force prediction ability from a calibrated optical tactile sensor to uncalibrated ones with various combinations of domain gaps, including marker presence, illumination condition, and elastomer modulus. Experimental results show the effectiveness of the proposed unsupervised force calibration method, with lowest force prediction errors of 0.102N (3.4% in full force range) for normal force, and 0.095N (6.3%) and 0.062N (4.1%) for shear forces along the x-axis and y-axis, respectively. This study presents a promising, general force calibration methodology for optical tactile sensors.

关键词： Accuracy Force Tactile sensors Lighting Elastomers Data collection Optical imaging Adaptive optics Calibration Optical sensors

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Fault Diagnostic Opportunities for Electromagnetic Coils of Active Magnetic Bearings using Physics-of-Failure Analysis 5

Fault Diagnostic Opportunities for Electromagnetic Coils of ...

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5th International Conference on System Reliability and Safety engineering, SRSE 2023

作者： Li, Ruiqi Wang, Kai Zeng, Peng Cao, Jiwei Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110016 China Harbin Institute of Technology Department of Electrical Engineering China

ISBN: (纸本)9798350305944

Active magnetic bearings (AMBs) have many advantages over traditional oil bearings due to their non-contact characteristics. They are environmentally friendly solution and have been proven to be highly reliable and available. Electromagnetic coils are vital components of AMB and they are failure prone. In this paper, the failure mode of magnetic bearing coil and its corresponding failure mechanism are reviewed by FMMEA method, and the existing coil fault diagnosis methods are introduced. Future directions for coil insulation health monitoring aiming at the application characteristics of AMBs are also discussed. © 2023 IEEE.

关键词： Failure analysis

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Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

arXiv

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arXiv 2023年

作者： Changoluisa Caiza, Iván D. Milas, Ana Montes Grova, Marco A. Pérez-Grau, Francisco Javier Petrovic, Tamara The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia Aerospace Technology Park of Andalusia Seville Spain

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. © 2023, CC BY-NC-SA.

关键词： Iterative methods

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Adaptive Planar Foot with Compliant Ankle Joint and Multi-modal Sensing for Quadruped Robots

Adaptive Planar Foot with Compliant Ankle Joint and Multi-mo...

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IEEE International Conference on robotics and Biomimetics

作者： Guowei Shi Chen Yao Wenhui Wang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Southern University of Science and Technology (SUSTech) Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics Shenzhen China

ISBN: (纸本)9781665481106

An adaptive sensorized robot foot that can adapt to uneven and rough terrains and have contact state sensing capability is vital for legged locomotion in exploration missions. Inspired by quadruped animals, we present an adaptive planar foot with large contact area to reduce sinkage, two degrees of freedom (2-DOF) compliant ankle joint for better terrain adaptation, in-foot multi-modal sensing capability. We propose customized ankle design with encoders instead of IMU for ankle joint angle measurement, in order to mitigate the noise injected by large impact forces. The foot also provides an accurate estimated force according to foot-shank relative orientation and the 6-axis force/torque sensor data. We develop a control algorithm for a quadruped robot equipped with our proposed robot feet and test its performance through simulation. Real-world experiments including foot orientation estimation, swing sensitivity, and force perception verify that our robot foot is suitable for dynamic quadruped locomotion.

关键词： Legged locomotion Sensitivity Force measurement Heuristic algorithms Force Robot sensing systems Sensors

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Design of a Small-Scale Locust-Inspired Robot Capable of Jump-gliding Locomotion

Design of a Small-Scale Locust-Inspired Robot Capable of Jum...

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IEEE International Conference on robotics and Biomimetics

作者： Weitao Zhang Zisen Wei Yi Xu Liang Peng Changwen Dong Yanzhou Jin Qing Shi Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

Small-scale robots are widely used in real-world rescue missions, but their mobility and movement range are still limited. One solution to improve their adaptability to complex environments is to introduce jumping and gliding strategies into the robot design. In this paper, we developed a small-scale locust-inspired robot capable of active (propeller-driven) gliding after launching from the ground, which had a body length of 19.1 cm and a weight of 97 g. On the basis of the locust’s musculoskeletal model, the jumping system was designed by a six-bar mechanism which can amplify the power. To improve the lift in gliding phase while reducing the draft in jumping phase, the gliding system with a folding wing and a front propeller was proposed corresponding to the fixed-wing principle. The results obtained through a series of experimental tests reveal that the robot achieves a jumping height of 0.15 m and a passive gliding distance of 1.5 m, which has a glide ratio of 1.13. Remarkably, actuating by a propeller, the robot can jump up to a height of 0.20 m, covering a gliding distance of 2.9 m. It is worth noting that the glide ratio of the robot improves by 91.2% in the propeller-driven jump-gliding mode.

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Real-time attitude tracking of capsule endoscope based on MEMS IMU and error analysis

Real-time attitude tracking of capsule endoscope based on ME...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Huang, Zhuokang Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China

ISBN: (纸本)9781665436786

Wireless capsule endoscope (WCE) has been increasingly exploited for noninvasive screening and diagnosis of the entire esophagus, stomach, colon, and small intestine. WCE allows direct visualization of gastrointestinal tracts and causes less pain to the patients. Automated navigation of WCE during the medical procedure will significantly reduce the testing time and improve the usage and efficiency of medical infrastructure. Attitude tracking of WCE is of great importance for real-time tracking of the position and orientation of capsule endoscope. In this paper, a method for calculating the attitude of WCE based on MEMS IMU (Inertial Measurement Units) is implemented. The accuracy of attitude tracking is measured by a series of experiments. By reorientating the capsule endoscope with a high precision 3D rotary stage, the error from the proposed algorism is determined. The experimental results show that the attitude of WCE based on MEMS IMU can meet the diagnostic requirements in about six minutes, but the performance cannot be maintained due to error accumulation. Additionally, we propose a method to improve the attitude accuracy by reciprocating the rotational motion during the inspection process. © 2021 IEEE.

关键词： Endoscopy

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Bionic Design and Kinematic Evaluation of a Stiffness-Adjustable Spinal Exoskeleton for Trunk Support

Bionic Design and Kinematic Evaluation of a Stiffness-Adjust...

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Service robotics (ICoSR), International Conference on

作者： Yuhan Yin Aibin Zhu Peng Xu Jing Zhang Jie Liu Systems and Shaanxi Key Laboratory of Intelligent Robots Institute of Robotics & Intelligent Xi'an Jiaotong University Xi'an China Honghui Hospital Xi'an Jiaotong University Xi'an China School of Mechanical Engineering Yanshan University Qinhuangdao China

ISBN: (数字)9798350367119

ISBN: (纸本)9798350367126

In recent years, the field of medical rehabilitation utilizing back-support exoskeleton has demonstrated significant potential for application. However, existing exoskeletons still present issues such as insufficient comfort and safety. This paper proposes the design of a passive exoskeleton with variable stiffness for supporting the human trunk. The primary structure consists of a symmetrically distributed chain-type configuration on both sides of the spine, allowing for adjustable stiffness to assist users during complex body movements. In comparison to traditional rigid exoskeletons, this design not only enhances flexibility but also improves overall exoskeleton performance. Kinematic analysis of the exoskeleton reveals a high degree of freedom. Experimental results demonstrate that the exoskeleton provides a wide range of motion, with average ranges of 63° flexion, 33° extension, 25° lateral flexion, and 18° axial rotation when worn.

关键词： Service robots Exoskeletons Kinematics Back Safety Motion control

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QuWheeleg: Quadruped Wheeled-leg Robot Based on Electromagnetic Clutch Pulse Control

QuWheeleg: Quadruped Wheeled-leg Robot Based on Electromagne...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Yiming He Chao Sun Xiaolong Quan Yanzhou Jin Ruochao Wang Qing Shi Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China Intelligent Robotics Institute School of mechatronical Engineering Beijing Institute of Technology Beijing China

This paper presents a quadruped wheeled-leg mobile robot. On the basis of the planar four-bar mechanism, an active deformable wheel mechanism is designed, then optimize the deformation ratio based on genetic algorithm. We use an electromagnetic clutch for motion mode switching, which ensures the stability and reliability of robot mode switching without adding extra drive. Furthermore, we propose the electromagnetic clutch high-frequency pulse control method to ensure the continuity of the leg-form motion state. The results obtained through a series of simulations and experimental tests reveal that QuWheeleg has effective barrier crossing performance (150% BL) and high load capacity (2kg), which combines the advantages of wheel and leg motion.

关键词： Legged locomotion Wheels Switches Stability analysis Quadrupedal robots Reliability Electromagnetics

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Reinforcement Learning-Based Optimal Multiple Waypoint Navigation

Reinforcement Learning-Based Optimal Multiple Waypoint Navig...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Christos Vlachos Panagiotis Rousseas Charalampos P. Bechlioulis Kostas J. Kyriakopoulos Department of Electrical and Computer Engineering University of Patras Greece School of Mechanical Engineering Control Systems Laboratory National Technical University of Athens Greece Center of AI & Robotics (CAIR) New York University Abu Dhabi

In this paper, a novel method based on Artificial Potential Field (APF) theory is presented, for optimal motion planning in fully-known, static workspaces, for multiple final goal configurations. Optimization is achieved through a Reinforcement Learning (RL) framework. More specifically, the parameters of the underlying potential field are adjusted through a policy gradient algorithm in order to minimize a cost function. The main novelty of the proposed scheme lies in the method that provides optimal policies for multiple final positions, in contrast to most existing methodologies that consider a single final configuration. An assessment of the optimality of our results is conducted by comparing our novel motion planning scheme against a RRT* method.

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Self-Tuning Robust Tracking Control for Autonomous Underwater Vehicles

Self-Tuning Robust Tracking Control for Autonomous Underwate...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Nima Maghooli Fahimeh S. Tabatabaee-Nasab S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics … Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

This paper addresses the control design problem for a nonlinear and nonholonomic dynamics model of an autonomous underwater vehicle. The kinematics control algorithm is a PID controller while a self-tuning control method is used for trajectory tracking. The kinetics control algorithm is based on an integral sliding mode technique that is robust against time-varying disturbances. The obtained results presented here use the Remote Environmental Monitoring UnitS (REMUS) underwater vehicle model and show the high performance of the controller. Based on the results demonstrated for the two designated trajectories, the tracking quality of self-tuning robust control, despite the significant similarity of the control input of both algorithms for x, y, and z, is much better than the sliding mode control. As a result, AUV was able to follow the desired trajectory, and tracking errors converged to zero. It is worth noting that at non-derivative points of the path (1 st trajectory), tracking errors were entirely within response quality limits (y = ±0.05[m]). The order of control efforts of the proposed control is suitable and can be implemented in the physical system.

关键词： Robust control Autonomous underwater vehicles Mechatronics Trajectory tracking Heuristic algorithms Robot kinematics Trajectory

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