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arXiv 2020年

作者： Wen, Jian Zhang, Xuebo Bi, Qingchen Pan, Zhangchao Feng, Yanghe Yuan, Jing Fang, Yongchun The Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China The Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China The School of Marine Science and Technology Northwestern Polytechnical University Xi'an710072 China The Faculty of Robot Science and Engineering Northeastern University Shenyang110000 China The College of Systems Engineering National University of Defense Technology Changsha410073 China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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Research on Impedance Control of Flexible Joint Space Manipulator On-Orbit Servicing

Research on Impedance Control of Flexible Joint Space Manipu...

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IEEE International Conference on robotics and Biomimetics

作者： Dongyu Liu Hong Liu Yechao Liu Zhiqi Li Institute of Manned Spacecraft System Engineering China Academy of Space Technology Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, the positional accuracy and contact force index requirements of the manipulator are analyzed according to the tolerance index of the space manipulator screwing. An position-based in Cartesian space impedance control strategy based on friction identification and compensation is proposed. By using joint friction torque compensation to improve the system control precision and setting the desired Cartesian position of the manipulator end point to control the contact force, this strategy solves the contradiction between the positional accuracy index and the contact force index requirement of manipulator during contact operating. The control algorithm is designed based on the system dynamics model, and the stability analysis of the control algorithm is given. The correctness of the control strategy is verified by simulation and on-orbit implementation. China's space manipulator has successfully completed the actual on-orbit servicing mission based on impedance control for the first time.

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Two-layer structure predictive control of target tracking mode for dual time-scale system

Two-layer structure predictive control of target tracking mo...

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Chinese Automation Congress (CAC)

作者： Hongrui Wang Tao Zou Zhijia Yang Hongyu Zheng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Institute of Intelligent Manufacturing Huanghuai University Zhumadian China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In the dual time-scale system, the time for the fast and slow model to reach steady-state values is inconsistent. Based on the "point" model strategy of integral variables, this paper compares and analyzes the slow model variables with the integral variables and designs a two-layer structure predictive controller for the dual time-scale system under the model truncation. The steady-state optimization layer uses the step response characteristics of slow model variables to derive the multi-step controlled variable prediction values after the truncation point. Based on the improved displacement matrix, the error correction coefficient is modified by introducing an error compensation factor in the dynamic control layer to reduce the accumulated error of model truncation. Under the truncated dual time-scale system model, the improved strategy proposed in the paper can not only maintain the amount of calculation of the predictive control but also solve the problem that the steady-state target calculation is not accurate enough due to model mismatch. Finally, the elfectiveness of the improvement strategy is verified by simulation comparison.

关键词： Robots Optimized production technology Manufacturing Control systems Automation Target tracking Steady-state

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The Design and Implementation of Human Motion Capture system Based on CAN Bus *

The Design and Implementation of Human Motion Capture System...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Xian YUE Aibin ZHU Jiyuan SONG Guangzhong CAO Delin AN Zhifu GUO Institute of Robotics & Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University Xi'an China Shenzhen Key Laboratory of Electromagnetic Control Shenzhen University Shenzhen China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi’an China Taiyuan Institute Co.Ltd. of China Coal Technology and Engineering Group Taiyuan China

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

Aiming at the existing problems of exoskeletons in human motion capture and recognition, causing human can only move passively in the exoskeleton, which is difficult to efficiently rebuild the connection between human muscles and nerves. This paper describes a system for the analysis of human motion capture based on CAN bus. The system adopts a distributed system architecture, which can collect data including plantar pressure, exoskeleton joint angle, and provide data support for subsequent motion recognition algorithm. The system has a simple measurement method and low dependence on measurement environment. The accuracy of the system is verified by the contrast experiment of Vicon 3D motion capture system. The results of the experiment indicate that the designed human motion capture system has a high accuracy, and meets the requirements of human motion perception when controlling the Rehabilitation Exoskeleton.

关键词： Robot sensing systems Exoskeletons Legged locomotion Foot Pressure sensors Acceleration

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Large deflection ofa compliant beam with non-uniform stiffness distribution using a PRB-3R model

Large deflection ofa compliant beam with non-uniform stiffne...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Jin, Hu Fang, Tao Chen, Haoyao Yildirim, Tanju Li, Weihua Zhang, Shiwu Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China 96 Jinzhai Rd. Hefei230026 China School of Mechanical Engineering and Automation in Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System China Department of Materials and Mechatronic Engineering University of Wollongong WollongongNSW2522 Australia

ISBN: (纸本)9781728137261

Soft arms of service robots for safe manipulation, or soft legs of mobile robots for efficient locomotion have been intensively developed. The deflection of complaint beams for the soft arms or soft legs is a key criterion for design and control of robotic motions. Pseud-rigid-body (PRB) model are commonly used to predict deflection of the compliant beams with a uniform stiffness. However, soft robotic arms and legs often possess a non-uniform stiffness distribution for improving manipulation effectiveness and locomotion efficiency. In this work, a PRB-3R model is used to predict large deflections of a compliant beam with a non-uniform distribution of stiffness. By using the Euler-Bernoulli beam theory, the large deflection of a cantilever beam with a non-uniform stiffness distribution under an applied load was also derived. Results show that the PRB-3R model can precisely predict mechanical behavior of compliant beams that are not too sharp. It is not proper to apply this model to beams with very large slope. This work provides an effective design method for the soft appendages of a biomimetic robot. © 2018 IEEE

关键词： Stiffness

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Output Feedback Control for MIMO systems with Disturbances Compensation

Output Feedback Control for MIMO systems with Disturbances C...

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European Control Conference (ECC)

作者： D.E. Konovalov S.A. Vrazhevsky I.B. Furtat A.S. Kremlev Martin Cech Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia The Laboratory ”Control of Complex System” Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS) St. Petersburg Russia Pilsen — NTIS - European Center of Excellence University of West Bohemia

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

The paper deals with the novel feedback output control law for multiple-input multiple-output (MIMO) plant with mismatched bounded disturbances. The plant model is described by linear and Lipshitz nonlinear terms. The control law is based on the auxiliary loop method for disturbance estimation and modified backstepping method for control under mismatched disturbances. Differently from existing results based on backstepping method the proposed algorithm allows to reduce the accuracy in steady state, while the existing auxiliary loop based algorithm are feasible under matched disturbances. The results in the England Power system Benchmark illustrate the efficiency of the proposed scheme.

关键词： Backstepping Steady-state Control systems Mathematical model Attenuation MIMO communication Estimation

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Fuzzy Adaptive Control-based Real-time Obstacle Avoidance under Uncertain Perturbations

Fuzzy Adaptive Control-based Real-time Obstacle Avoidance un...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Yingbai Hu Guang Chen Longbin Zhang Hang Su Mengyao Li Yunus Schmirander Hu Cao Alois Knoll Chair of Robotics Artificial Intelligence and Realtime Systems Technical University of Munich Munich Germany College of Automotive Engineering Tongji University Shanghai China KTH MoveAbility Lab KTH Royal Institute of Technology Stockholm Sweden Politecnico di Milano Milano Italy Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Dynamic Movement Primitives (DMPs) framework is a powerful approach to imitate motor skills, which has outstanding characteristics, such as convergence to the goal position and good imitation performance. Considering complex motion scenes of manipulators, such as changing the goal position or adding obstacles, the original DMPs framework is not sufficient for the requirements. In this paper, we propose a learning control-based hierarchical control strategy to adapt to new goal positions and avoid obstacles: the high-level learning scheme is targeted at imitating the motor skill and generating the optimization trajectory for obstacle avoidance; the lower-level control scheme focuses on the safety and stability of the robot's movement with unknown disturbances. Firstly, the enhanced DMPs framework is presented to imitate the trajectory from human demonstrations, where the novel DMPs can adapt to new goal position with the changing goal, and avoid single or multiple obstacles. Then, the fuzzy adaptive control method is employed to control redundant manipulators, where the fuzzy logic system (FLS) is incorporated to approximate an unknown nonlinear function term of the unknown disturbance. Finally, the effectiveness of the proposed learning-control strategy is demonstrated with simulation results. The results show that the developed hierarchical strategy has good performance for new goal adaptation and obstacle avoidance.

关键词： Collision avoidance Trajectory Manipulator dynamics Nonlinear dynamical systems Adaptive control

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Miniature 3D depth camera for real-time reconstruction

Miniature 3D depth camera for real-time reconstruction

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhao, Zilong Gu, Feifei Xie, Pengju Cao, Huazhao Song, Zhan Hunan University College of Computer Science and Electronic Engineering Changsha Hunan Province China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Guangdong Province China Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781728163215

This paper developed a miniature 3D vision system for dynamic depth recovery. Our system is constituted by a DOE projector and two cameras. A single pattern with pseudo-random speckles was projected onto the surface of the target object and the coupling pattern was imaged by the stereo cameras. An optimal camera calibration algorithm is adopted to guarantee the measurement accuracy. The speckle pattern projected through a diffractive optical element (DOE) of size 8mm×8mm. The baseline between the stereo cameras is as short as 50mm. The system has the advantages of simple structure, small size, and low cost. It can be easily integrated into mobile devices such as tablet computers and mobile phones. In comparison with several other mature products, the proposed 3D depth camera can achieve 3D reconstruction with higher accuracy. © 2019 IEEE.

关键词： Speckle

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A registration-aided domain adaptation network for 3D Point cloud based place recognition

arXiv

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arXiv 2020年

作者： Qiao, Zhijian Hu, Hanjiang Shi, Weiang Chen, Siyuan Liu, Zhe Wang, Hesheng Department of Automation Insititue of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China Department of Mechanical Engineering Carnegie Mellon University United States Department of Computer Science and Technology University of Cambridge United Kingdom

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather variance. However, it is time-consuming and effort-costly to obtain high-quality point cloud data for place recognition model training and ground truth for registration in the real world. To this end, a novel registration-aided 3D domain adaptation network for point cloud based place recognition is proposed. A structure-aware registration network is introduced to help to learn features with geometric information and a 6-DoFs pose between two point clouds with partial overlap can be estimated. The model is trained through a synthetic virtual LiDAR dataset through GTA-V with diverse weather and daytime conditions and domain adaptation is implemented to the real-world domain by aligning the global features. Our results outperform state-of-the-art 3D place recognition baselines or achieve comparable on the real-world Oxford RobotCar dataset with the visualization of registration on the virtual dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Three dimensional computer graphics

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Model Predictive Control with Reduced Integration Step Size of a Switched Reluctance Drive

Model Predictive Control with Reduced Integration Step Size ...

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International Conference on Power Drives systems (ICPDS)

作者： Alecksey Anuchin Valentina Podzorova Mario Hirz Christoph Datlinger Lassi Aarniovuori Viktoriya Popova Galina Demidova Chen Hao Moscow Power Engineering Institute Moscow Russia Institute of Automotive Engineering Graz University of Technology Graz Austria Electrical Drives Laboratory LUT University Lappeenranta Finland Ogarev Mordova State University Saransk Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia School of Electrical and Power Engineering China University of Mining & Technology Xuzhou China

ISBN: (数字)9781728165387

ISBN: (纸本)9781728165394

The problem of torque pulsation and its stabilization by means of control is typical for switched reluctance drives. This drives usually controlled using hysteresis current regulators, which produce audible noise and torque ripple. The method of model predictive control with reduced integration step size was introduced in order to implement precise torque stabilization using pulse width modulation. Active thermal control was developed as well to increase the continuous output power of the drive. The developed control strategy was simulated and shows accurate torque regulation even when only few integration steps inside single PWM cycle are used for duty cycle evaluation. Active thermal control reduced the temperature of the hottest power module by 7.4%, which allows to increase the continuous output power of the drive.

关键词： Torque Multichip modules Switches Pulse width modulation Control systems Power generation Predictive control

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