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Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation

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arXiv 2022年

作者： Goel, Yash Vaskevicius, Narunas Palmieri, Luigi Chebrolu, Nived Stachniss, Cyrill The laboratory for Photogrammetry and Robotics University of Bonn Germany Robert Bosch GmbH Germany Robert Bosch GmbH Corporate Research Stuttgart Germany The Dynamic Robot Systems Group University of Oxford United Kingdom The University of Bonn Germany The Department of Engineering Science the University of Oxford United Kingdom The Lamarr Institute for Machine Learning and Artificial Intelligence Germany

We investigate the task of object goal navigation in unknown environments where the target is specified by a semantic label (e.g. find a couch). Such a navigation task is especially challenging as it requires understanding of semantic context in diverse settings. Most of the prior work tackles this problem under the assumption of a discrete action policy whereas we present an approach with continuous control which brings it closer to real world applications. We propose a deep neural network architecture and loss function to predict dense cost maps that implicitly contain semantic context and guide the robot towards the semantic goal. We also present a novel way of fusing mid-level visual representations in our architecture to provide additional semantic cues for cost map prediction. The estimated cost maps are then used by a sampling-based model predictive controller (MPC) for generating continuous robot actions. The preliminary experiments suggest that the cost maps generated by our network are suitable for the MPC and can guide the agent to the semantic goal more efficiently than a baseline approach. The results also indicate the importance of mid-level representations for navigation by improving the success rate by 7 percentage points. Copyright © 2022, The Authors. All rights reserved.

关键词： Navigation

An Integral Sliding-Mode Parallel Control Approach for General Nonlinear systems via Piecewise Affine Linear Models

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arXiv 2021年

作者： Zhang, Chunyang Gao, Qing Deng, Yue Qiu, Jianbin School of Automation Science and Electrical Engineering Beihang University Beijing China Zhongguancun Laboratory Beijing China School of Astraunotics Beihang University Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

The fundamental problem of stabilizing a general non-affine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this paper. A novel integral sliding-mode parallel control (ISMPC) approach is developed, where an uncertain piecewise affine system (PWA) is constructed to model a non-affine continuous-time nonlinear system equivalently on a compact region containing the origin. A piecewise sliding-mode parallel controller is designed to globally stabilize the PALM and, consequently, to semi-globally stabilize the original nonlinear system. The proposed scheme enjoys three favorable features: i) some restrictions on the system input channel are eliminated, thus the developed method is more relaxed compared with the published approaches;ii) it is convenient to be used to deal with both matched and unmatched uncertainties of the system;and (iii) the proposed piecewise parallel controller generates smooth control signals even around the boundaries between different subspaces, which makes the developed control strategy more implementable and reliable. Moreover, we provide discussions about the universality analysis of the developed control strategy for two kinds of typical nonlinear systems. Simulation results from two numerical examples further demonstrate the performance of the developed control approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Nonlinear systems

Instantaneous capture input for balancing the variable height inverted pendulum

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arXiv 2021年

作者： Liu, Junwei Chen, Hua Wensing, Patrick M. Zhang, Wei Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Department of Aerospace and Mechanical Engineering University of Notre Dame Notre DameIN46556 United States

Balancing is a fundamental need for legged robots due to their unstable floating-base nature. Balance control has been thoroughly studied for simple models such as the linear inverted pendulum thanks to the concept of the instantaneous capture point (ICP), yet the constant center of mass height assumption limits the application. This paper explores balancing of the variable-height inverted pendulum (VHIP) model by introducing the instantaneous capture input (ICI), an extension of the ICP based on its key properties. Namely, the ICI can be computed as a function of the state, and when this function is used as the control policy, the ICI is rendered stationary and the system will eventually come to a stop. This characterization induces an analytical region of capturable states for the VHIP, which can be used to conceptually guide where to step. To further address state and control constraints during recovery, we present and theoretically analyze an explicit ICI-based controller with online optimal feedback gains. Simulations demonstrate the validity of our controller for capturability maintenance compared to an approach based on the divergent component of motion. Copyright © 2021, The Authors. All rights reserved.

关键词： Balancing

Sensor-less Complex System Control of PMSM Based on Improved SMO

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Sensor-less Complex System Control of PMSM Based on Improved...

作者： Yingjie Xiong Anna Wang Tao Zhang College Of Information Science and Engineering Northeastern University Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Electrical Engineering Dalian University of Technology

The sensor-less control system of PMSM is complicated,and it is of great significance to carry out accurate mathematical modeling and simulation *** is small in size,high in efficiency,and low in noise,so it is very popular in AC motor *** have been widely used in various electrical appliances such as machine tools,robots,and household *** order to reduce the high-frequency chatter of the sensor-less control strategy of permanent magnet synchronous motors,a sensor-less control method based on improved SMO is *** back-EMF component in the static coordinate system is obtained through the *** backEMF component undergoes closed-loop feedback to eliminate the high-frequency *** back-EMF component is calculated by an improved PLL to obtain the position and speed of the rotor to improve system *** the end of the article,the feasibility is proved by comparing it with the simulation of conventional SMO-PLL.

关键词： PMSM SMO with closed-loop feed back improved PLL

Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： robotics

Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM

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Enhanced Visual Feedback with Decoupled Viewpoint Control in...

IEEE-RAS International Conference on Humanoid Robots

作者： Yang Chen Leyuan Sun Mehdi Benallegue Rafael Cisneros-Limón Rohan P. Singh Kenji Kaneko Arnaud Tanguy Guillaume Caron Kenji Suzuki Abderrahmane Kheddar Fumio Kanehiro School of Integrative and Global Majors (SIGMA) University of Tsukuba Japan CNRS-AIST JRL (Joint Robotics Laboratory) IRL National Institute of Advanced Industrial Science and Technology (AIST) Department of Intelligent and Mechanical Interaction Systems Graduate School of Science and Technology University of Tsukuba Japan MIS lab Universite de Picardie Jules Verne Amiens France Faculty of Engineering and Center for Cybernetics Research University of Tsukuba Japan

ISBN: (数字)9798350309799

ISBN: (纸本)9798350309805

In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: (i) the lag between the motion of the operator's and robot's head due to network communication delays or slow robot joint motion. This latency could cause a noticeable delay in the visual feedback, which jeopardizes the embodiment quality, can cause dizziness, and affects the interactivity resulting in operator frequent motion pauses for the visual feedback to settle; (ii) the mismatch between the camera's and the headset's field-of-views (FOV), the former having generally a lower FOV; and (iii) a mismatch between human's and robot's range of motions of the neck, the latter being also generally lower. In order to leverage these draw-backs, we developed a decoupled viewpoint control solution for a humanoid platform which allows visual feedback with low-latency and artificially increases the camera's FOV range to match that of the operator's headset. Our novel solution uses SLAM technology to enhance the visual feedback from a reconstructed mesh, complementing the areas that are not covered by the visual feedback from the robot. The visual feedback is presented as a point cloud in real-time to the operator. As a result, the operator is fed with real-time vision from the robot's head orientation by observing the pose of the point cloud. Balancing this kind of awareness and immersion is important in virtual reality based teleoperation, considering the safety and robustness of the control system. An experiment shows that the effectiveness of our solution.

关键词： Point cloud compression Visualization Simultaneous localization and mapping Humanoid robots Virtual reality Real-time systems Robustness

Synchronous Motion Generation of Multiple Continuum Robots Based on a Jacobian-Estimation Strategy

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Synchronous Motion Generation of Multiple Continuum Robots B...

IEEE International Conference on robotics and Biomimetics

作者： Ning Tan Ruikun Hu Yuyang Wu Xinyu Zhang Fenglei Ni Zhenglong Sun School of Computer Science and Engineering Sun Yat-sen University Guangzhou PR China State Key Laboratory of Robotics and Systems (HIT) Harbin PR China Engineering Research Center of Software/Hardware Co-Design Technology and Application Ministry of Education (East China Normal University) Shanghai PR China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (纸本)9781665405362

In this paper, a novel model-free control scheme is proposed for synchronous motion control of multiple continuum robots. The control problem is formulated as two convex optimization routines in an adaptive and model-free closed-loop framework. The proposed approach is heading to address cooperative task execution for multiple continuum robots. The model-free feedback control guarantees the high portability for a wide range of continuum robots. Simulation studies are conducted on two kinds of tasks, which are cooperative task execution with two robots and simultaneously tracking control with three robots. Besides, the superiority of proposed approach is validated through comparisons with other methods. Simulation results prove the high accuracy and efficiency of this model-free feedback control scheme.

关键词： Jacobian matrices Adaptation models Tracking Simulation Conferences Convex functions Feedback control

A moving target detection and localization strategy based on optical flow and pin-hole imaging methods using monocular vision

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A moving target detection and localization strategy based on...

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

作者： Wang, Shun Guo, Qingqiang Xu, Sheng Su, Dan School of Control Science and Engineering Shandong University Shandong Jinan250061 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China Shandong Institute of Advanced Technology Chinese Academy of Sciences Shandong Jinan250102 China Orbbec Inc. Shenzhen518057 China

ISBN: (纸本)9781665436786

This paper proposes a new strategy for moving target detection and localization based on monocular vision. Firstly, to detect a moving target with large displacement and high speed accurately, two consecutive video images captured by a monocular camera are preprocessed using the enhancement and denoising methods. Then, the optical flow representing motion information is calculated iteratively by the modified Lucas-Kanade optical flow method. Secondly, a new interest region extraction method is developed to overcome the negative impacts caused by the noises in the background. Specifically, this proposed method combines a two-level image segmentation strategy from coarse to fine, including median filtering, two-direction dynamic threshold segmentation, the Otsu method, and morphological processing. Thirdly, a low computational cost target localization algorithm is proposed based on pin-hole imaging theory. Besides, it only uses two-dimensional image and camera parameters to obtain the moving target's position in the three-dimensional space. Finally, experimental results show that the proposed strategy can effectively eliminate noise interferences and realize moving target detection, extraction, and localization. © 2021 IEEE.

关键词： Image segmentation

Highly Selective Biomimetic Flexible Tactile Sensor for Neuroprosthetics

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研究（英文） 2021年第1期 425-435页

作者： Yue Li Zhiguang Cao Tie Li Fuqin Sun Yuanyuan Bai Qifeng Lu Shuqi Wang Xianqing Yang Manzhao Hao Ning Lan Ting Zhang i-Lab Key Laboratory of Multifunctional Nanomaterials and Smart Systems Suzhou Institute of Nano-Tech and Nano-Bionics (SINANO) Chinese Academy of Sciences (CAS) 398 Ruoshui Road Suzhou 215123 China School of Nano-Tech and Nano-Bionics University of Science and Technology of China 96 Jinzhai Road HefeiAnhui 230026 China i-Lab Key Laboratory of Multifunctional Nanomaterials and Smart Systems Suzhou Institute of Nano-Tech and Nano-Bionics (SINANO) Chinese Academy of Sciences (CAS) 398 Ruoshui Road Suzhou 215123 China Laboratory of Neurorehabilitation Engineering School of Biomedical Engineering and Institute of Medical Robotics Shanghai Jiao Tong University 1954 Huashan Road Shanghai 20030 China i-Lab Key Laboratory of Multifunctional Nanomaterials and Smart Systems Suzhou Institute of Nano-Tech and Nano-Bionics (SINANO) Chinese Academy of Sciences (CAS) 398 Ruoshui Road Suzhou 215123 China School of Nano-Tech and Nano-Bionics University of Science and Technology of China 96 Jinzhai Road HefeiAnhui 230026 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai 200031 China

Biomimetic flexible tactile sensors endow prosthetics with the ability to manipulate objects,similar to human ***,it is still a great challenge to selectively respond to static and sliding friction forces,which is crucial tactile information relevant to the perception of weight and slippage during ***,inspired by the structure of fingerprints and the selective response of Ruffini endings to friction forces,we developed a biomimetic flexible capacitive sensor to selectively detect static and sliding friction *** sensor is designed as a novel plane-parallel capacitor,in which silver nanowire-3D polydimethylsiloxane(PDMS)electrodes are placed in a spiral configuration and set perpendicular to the *** nanowires are uniformly distributed on the surfaces of 3D polydimethylsiloxane microcolumns,and silicon rubber(Ecoflex?)acts as the dielectric material The capacitance of the sensor remains nearly constant under different applied normal forces but increases with the static friction force and decreases when sliding ***,aiming at the slippage perception of neuroprosthetics,a custom-designed signal encoding circuit was designed to transform the capacitance signal into a bionic pulsed signal modulated by the applied sliding friction *** results demonstrate the great potential of the novel biomimetic flexible sensors with directional and dynamic sensitivity of haptic force for smart neuroprosthetics.

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