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检索条件"机构=Laboratory of System Engineering and Robotics"

共 1182 条记录，以下是91-100 订阅

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Landing Area Prediction in Complex Terrains for Walking-assisted Lower-limb Exoskeleton Robot

Landing Area Prediction in Complex Terrains for Walking-assi...

引用

2023 International Conference on Biomimetic Intelligence and robotics

作者： Liu, Yuexun Liu, Du-Xin Ma, Yue Guo, Sheng Wu, Xinyu Robotics Research Center School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

With the expansion of application scenarios, the walking-assisted lower-limb exoskeleton robot urgently needs to improve its walking ability in complex terrains. However, due to the lack of environmental understanding ability and decision-making ability, the exoskeleton can not meet the need of people with lower-limb disability in complex terrains. To improve the walking abillity, this paper proposes a method of predicting the landing area in complex terrains for walking-assisted lower-limb exoskeleton robot. Multiple sensors were used to obtain the terrain information, step length, and stride length of human walking, and a multi-type input convolutional network was built to establish the mapping relationship to learn the decision-making mechanism of human standing in a complex environment. The result shows that the established network effectively predicts the landing area. Under the condition of full training, the predicted position deviation of the landing area is controlled within 6%, and the prediction rationality of the landing area can reach 90%. © 2023 The Authors. Published by Elsevier B.V.

关键词： Decision making

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Disturbance Compensation Based Sliding Mode Control for Aerial Soft Manipulator system 13

Disturbance Compensation Based Sliding Mode Control for Aeri...

引用

13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2023

作者： Jin, Ying Pei, Tengfei Yu, Hai Zhang, Zhaopeng Han, Jianda Liang, Xiao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Ministry of Education Engineering Research Center of Trusted Behavior Intelligence Tianjin300350 China

ISBN: (纸本)9798350315196

Aerial manipulation is an emerging area of research that is experiencing rapid growth and has immense potential across various domains, including precision agriculture, construction, and search and rescue operations. The combination of quadrotor with manipulation capabilities can provide access to remote or hazardous areas, precise control over tasks, and increased efficiency and safety in operations. However, traditional aerial manipulation platforms equipped with rigid manipulators have such drawbacks greater weight and less safety. Consequently, a novel complaint aerial manipulation system is considered to be developed. In this paper, a novel structure of an aerial manipulation platform with a single-section continuum manipulator is developed. In order to address the center-of-mass displacement resulting from manipulator movements, a sliding mode controller is introduced as a means to ensure the quadrotor's flight remains smooth. Afterward, the Lyapunov theorem is employed to ensure stability of the entire closed-loop system. Subsequently, numerical simulations are carried out to showcase the superior performance of the proposed control scheme in comparison to the PD controller. © 2023 IEEE.

关键词： Antennas

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Collaborative Fall Detection and Response Using Wi-Fi Sensing and Mobile Companion Robot

Collaborative Fall Detection and Response Using Wi-Fi Sensin...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Yunwang Kang, Yaozhong Zhao, Ziqi Hong, Yue Meng, Lingxiao Meng, Max Q.-H. Southern University of Science and Technology Shenzhen Key Laboratory of Robotics Perception and Intelligence Shenzhen518055 China SUSTech Department of Electrical and Electronic Engineering Shenzhen China School of System Design and Intelligent Manufacturing SUSTech Shenzhen China

ISBN: (纸本)9781665481090

This paper presents a collaborative fall detection and response system integrating Wi-Fi sensing with robotic assistance. The proposed system leverages channel state information (CSI) disruptions caused by movements to detect falls in non-line-of-sight (NLOS) scenarios, offering non-intrusive monitoring. Besides, a companion robot is utilized to provide assistance capabilities to navigate and respond to incidents autonomously, improving efficiency in providing assistance in various environments. The experimental results demonstrate the effectiveness of the proposed system in detecting falls and responding effectively. © 2024 IEEE.

关键词： Fall detection

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Development of an Integrated Grapple Chain for a Simultaneous Three-Fingered End-Effector 16th

Development of an Integrated Grapple Chain for a Simultaneou...

引用

16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Wu, Jun He, Yu Wang, He Fan, Shaowei School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu611731 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819965007

This paper presents the development of an integrated grapple chain for a simultaneous three-fingered end-effector. The geometrical constraint with four stages is firstly defined. Then, a grapple finger is presented to fulfill the proposed four stages with an approximately straight line actuation. Then, the actuation chain of linkage is designed by modification, optimization and combination. At last, Simulation indicates that the grapple finger can conduct planar and linear motion, which contributed to restrain the target gradually. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： End effectors

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Multi Robot Welding Path Planning Based on Improved Ant Colony Algorithm 11th

Multi Robot Welding Path Planning Based on Improved Ant Colo...

引用

11th International Workshop of Advanced Manufacturing and Automation, IWAMA 2021

作者： Xu, ZiFeng Liu, Lilan Zou, Wei Xu, Tao Yuan, Shibo Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Aerospace System Engineering Shanghai Shanghai China

ISBN: (纸本)9789811905711

In view of the unreasonable path planning of multiple robots in the existing BIW Welding process, the welding process of multiple robots is analyzed, the mathematical model is established, and the improved ant colony algorithm is used to calculate, so as to obtain the optimal solder joint task allocation and the optimal welding path. The program is written in Python language to solve the algorithm. The calculation results show that the improved ant colony algorithm can effectively allocate the solder joints of multiple welding robots, and plan a reasonable welding path according to the assigned solder joints. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Target-driven Object Grasping Method for Mobile Manipulator in Clutter

Target-driven Object Grasping Method for Mobile Manipulator ...

引用

2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Yu, Xinkai Gao, Yongzhuo Dong, Wei Li, Mingyang Liu, Huajian Wang, Chao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

The demand for mobile manipulator in the military field is strong, but there is no product that can achieve autonomous grasping in a cluttered environment. In this paper, a target-driven grasp pose detection algorithm is proposed, which can be used to detect the grasp pose of a specified target object in a cluttered environment. After that, based on the lightweight requirements of the military, a mobile manipulator platform is built, and the forward and inverse kinematics model of the mobile manipulator is established. At the same time, a vehicle-arm coordination algorithm is designed to make the grasping efficiency higher. Finally, we use the mobile manipulator to perform autonomous grasping in a cluttered environment to verify the system functionality. © 2022 IEEE.

关键词： Manipulators

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Active Complaint Control for Smooth and Quick Connector Assembly

Active Complaint Control for Smooth and Quick Connector Asse...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wu, Jun He, Yu Wang, He Wang, Qiyu Fan, Shaowei University of Electronic Science and Technology of China School of Mechanical and Electrical Engineering Chengdu611731 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350325706

This paper presents an active complaint control for smooth and quick connector assembly. The application requirement of an end-effector with simultaneous connecters is firstly defined. Then, the hybrid impedance control provides the foundation for active search and passive assembly. After that, a resolution-variant Lissajous search is proposed for smooth motion and earlier connection. At last, simulations and experiments indicate that the proposed controller can guarantee smooth and quick search for connector assembly. © 2023 IEEE.

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Data Acquisition and Processing of Space Docking Physics Experiment Platform 11th

Data Acquisition and Processing of Space Docking Physics Exp...

引用

11th International Workshop of Advanced Manufacturing and Automation, IWAMA 2021

作者： Xu, Tao Liu, Lilan Zhou, Wei Yuan, Shibo Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Aerospace System Engineering Shanghai Shanghai China

ISBN: (纸本)9789811905711

In order to ensure the smooth progress of space docking, it is necessary to complete the testing, inspection and acceptance of the ground subsystem of the docking mechanism through physical or semi-physical simulation. In this paper, data collection is carried out for the six-degree-of-freedom space docking physical test bed. The data may be affected by the environment during the collection process, so it is necessary to process the collected data. The denoising autoencoder algorithm is used to process the data, so as to enhance the stability and accuracy of the data set. Provide data assurance for security and feasibility. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Data acquisition

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Gradient-Based Online Trajectory Planning for Quadrotor Transportation systems 13

Gradient-Based Online Trajectory Planning for Quadrotor Tran...

引用

13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2023

作者： Pei, Tengfei Jin, Ying Yu, Hai Fang, Yongchun Han, Jianda Liang, Xiao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Tianjin300350 China

ISBN: (纸本)9798350315196

Trajectory planning has been an important research area for quadrotor transportation systems for a long time. However, generating feasible trajectories in real-time that allow quadrotor transportation systems to navigate safely in complex environments remains a challenging issue. This article proposes an efficient gradient-based safety constraint that helps keep the system away from obstacles. Furthermore, this paper combines safety constraint with a novel B-spline-based optimization method that utilizes an improved hybrid-state A* algorithm for path searching to generate desired trajectory. Strategies to speed up path searching and unconstrained optimization problem constructed in B-spline optimization guarantee the computational efficiency. The feasibility of the resulting trajectory has been verified through simulation. © 2023 IEEE.

关键词： Trajectories

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Modeling and Planar Trajectory Tracking Control of an MJ-AUV 42

Modeling and Planar Trajectory Tracking Control of an MJ-AUV

引用

42nd Chinese Control Conference, CCC 2023

作者： Omar, Zakarya Liu, Ke-Xian Ren, Chao Meng, Qing-Hao Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China Sana'a University Faculty of Engineering Sana'a Yemen

ISBN: (纸本)9789887581543

A Multi-Joint Autonomous Underwater Vehicle (MJ-AUV) is designed and equipped with multiple movable segments or joints that allow for greater maneuverability and flexibility in the water. These joints allow the MJ-AUV to change its shape, orientation, and direction of movement, so it can access tight spaces or navigate in complex underwater environments, making it useful for a variety of tasks in the deep sea, such as surveillance, exploration, and maintenance. However, the multiple joint structure of the MJ-AUV complicates the dynamics of the system. Furthermore, the joints' rotation causes misalignment of the cabins, causing deviations in the desired forces and torques. To address these issues, this study focuses on the 2-dimensional (2D) modeling as well as the trajectory tracking controller of the MJ-AUV. In this setting, the proposed controller utilizes a hierarchically structured robust nonlinear back-stepping and sliding-mode approach. Hence, this controller is simulated under various uncertainties and disturbances and the results show that it presents a global finite-time convergence to a bounded neighborhood of the origin for both position and velocity tracking errors, demonstrating its effectiveness and robustness. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Autonomous underwater vehicles

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