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arXiv 2023年

作者： Rajashekhar, V.S. Dhaya, C. Raj, Dinakar C.K. Dharshan, P. Kumar, Mukesh S. Harish, B. Ajith, R. Kamaleshwaran, K. The Robotics Society India and Association for Machines and Mechanisms India Department of Computer Science Engineering Adhiparasakthi Engineering College Tamil Nadu Melmaruvathur India Department of Mechanical Engineering Adhiparasakthi Engineering College Tamil Nadu Melmaruvathur India

In this work we present a technique to select the best robot for accomplishing a task assuming that the map of the environment is known in advance. To do so, capabilities of the robots are listed and the environments where they can be used are mapped. There are five robots that included for doing the tasks. They are the robotic lizard, half-humanoid, robotic snake, biped and quadruped. Each of these robots are capable of performing certain activities and also they have their own limitations. The process of considering the robot performances and acting based on their limitations is the focus of this work. The wavefront algorithm is used to find the nature of terrain. Based on the terrain a suitable robot is selected from the list of five robots by the wavefront algorithm. Using this robot the mission is accomplished. Copyright © 2023, The Authors. All rights reserved.

关键词： Wavefronts

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Scale-Invariant Specifications for Human-Swarm Systems

Field Robotics

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Field robotics 2025年 3卷 368-391页

作者： Joel Meyer Ahalya Prabhakar Allison Pinosky Ian Abraham Annalisa Taylor Millicent Schlafly Katarina Popovich Giovani Diniz Brendan Teich Borislava Simidchieva Shane Clark Todd Murphey The Center for Robotics and Biosystems at Northwestern University École Polytechnique Fédérale de Lausanne (EPFL) The Department of Mechanical Engineering at Yale University Unmanned Laboratory Raytheon BBN Technologies Systems and Technology Research

We present a method for controlling a swarm using its spectral decomposition—that is, by describing the set of trajectories of a swarm in terms of a spatial distribution throughout the operational domain—guaranteeing scale invariance with respect to the number of agents both for computation and for the operator tasked with controlling the swarm. We use ergodic control, decentralized across the network, for implementation. In the DARPA OFFSET program field setting, we test this interface design for the operator using the STOMP interface—the same interface used by Raytheon BBN throughout the duration of the OFFSET program. In these tests, we demonstrate that our approach is scale-invariant—the user specification does not depend on the number of agents; it is persistent—the specification remains active until the user specifies a new command; and it is real-time—the user can interact with and interrupt the swarm at any time. Moreover, we show that the spectral/ergodic specification of swarm behavior degrades gracefully as the number of agents goes down, enabling the operator to maintain the same approach as agents become disabled or are added to the network. We demonstrate the scale invariance and dynamic response of our system in a field-relevant simulator on a variety of tactical scenarios with up to 50 agents. We also demonstrate the dynamic response of our system in the field with a smaller team of agents. Lastly, we make the code for our system available.

关键词： User interfaces Space exploration Hardware Visualization Trajectory Touch sensitive screens Robot sensing systems Real-time systems Graphical models Distribution functions

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A Review on Modeling of Chemo-mechanical Behavior of Particle–Binder Systems in Lithium-Ion Batteries

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Multiscale Science and engineering 2022年第3期4卷 79-93页

作者： Iqbal, Noman Choi, Jinwoong Lee, Changkyu Khan, Asif Tanveer, Muhammad Lee, Seungjun Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul South Korea Faculty of Mechanical Engineering Ghulam Ishaq Khan Institute of Engineering Sciences and Technology Topi Pakistan School of Mechanical Engineering Kyungpook National University Bukgu Daegu South Korea

Chemo-mechanical modeling of lithium-ion batteries is essential to achieve mechanical stability of the electrode. Tremendous efforts have been devoted to address underlying mechanisms of mechanical degradation caused by diffusion-induced stress and its effects on battery performance. Although the binder is an electrochemically inactive component of the electrode, it can play a crucial role in the development of diffusion-induced stress of the active particle network by regulating the electronic conduction pathways. Therefore, it is important to include binders in modeling of lithium-ion batteries for comprehensive understanding of the chemo-mechanical behavior of the composite electrode. In this review, we summarize the existing modeling techniques and their practical applicability to investigate the chemo-mechanical response of the particle–binder systems. First, we highlight the general models describing chemo-mechanical behavior of diffusion-induced stress in lithium-ion batteries. Next, we underline the single particle, multi-particle and pseudo-two-dimensional representative volume element models that include the binders. Finally, we provide suggestions for the computational approach to bridge the gap between the simulations and their applications.

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DEVELOPING A DIGITAL TWIN FOR SINGLE-CELL mechanical PHENOTYPING MICROFLUIDIC DEVICES 26

DEVELOPING A DIGITAL TWIN FOR SINGLE-CELL MECHANICAL PHENOTY...

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26th International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2022

作者： Roychowdhury, Sayan Mahmud, Samreen T. Puleri, Daniel F. Lai, Andre Rex, Rachel Li, Brian Sohn, Lydia L. Randles, Amanda Department of Biomedical Engineering Duke University United States UC Berkeley-UC San Francisco Graduate Program in Bioengineering University of California Berkeley United States Department of Mechanical Engineering University of California Berkeley United States

ISBN: (纸本)9781733419048

Microfluidics can be used to characterize individual cells in a population based on their mechanical traits. In this work, we digitally replicate the microfluidic device developed by Li et al. [1] and perform simulations of a representative AP-1060 cell. We show that the numerical model is able to recover whole-cell deformability index, a metric used to quantify the resistance of cells to compressive deformation, within 3% of the experimental average. These results pave the way for future studies which utilize experimental and computational approaches to optimize geometric design parameters, complement signal analysis, and enhance the acquisition of mechanical information. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized Systems for Chemistry and Life Sciences. All rights reserved.

关键词： Fluid structure interaction

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Human Inspired Robot Learning to Search Objects in Cluttered Environments Using Maximum Information-based Method 12

Human Inspired Robot Learning to Search Objects in Cluttered...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022

作者： Li, Zhihao Zheng, Shuaishuai Dong, Zhipeng Li, Miao Chen, Fei T-Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Institute of Technological Sciences Wuhan University Hubei Wuhan430072 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Searching for target objects in clutter widely exists in our daily life. However, it is very challenging for robots because of the uncertainty and unobservability caused by cluttered environments. Therefore, this work proposes a method that can imitate the human searching process, spreading the clutter to get more unseen information, which addresses the un-observability problem. This work provides an objective function to conduct the imitation. Due to the uncertainty of cluttered environments, it is hard to obtain environments models. This work uses soft actor-critic, a model-free reinforcement learning method, to address this problem and learn a search policy based on the proposed objective function. We evaluate the training efficiency and search success rate of the policy. The experiments indicate that the proposed objective function can accelerate the training process. The success rates of our method and baseline methods are compared in different difficulty settings. Our method has a higher success rate in highly cluttered environments, including more than 60 objects. © 2022 IEEE.

关键词： Clutter (information theory)

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Sample Efficient Dynamics Learning for Symmetrical Legged Robots: Leveraging Physics Invariance and Geometric Symmetries

Sample Efficient Dynamics Learning for Symmetrical Legged Ro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jee-eun Lee Jaemin Lee Tirthankar Bandyopadhyay Luis Sentis Department of Aerospace Engineering and Engineering Mechanics Human Centered Robotics Laboratory The University of Texas at Austin USA Department of Mechanical and Civil Engineering California Institute of Technology Pasadena CA USA Robotics and Autonomous Systems Group Data61 CSIRO QLD Australia Faculty of Department of Aerospace Engineering and Engineering Mechanics The University of Texas at Austin USA

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system, which allows for robust extrapolation from fewer samples. Existing frameworks that represent all data in vector space fail to consider the structured information of the robot, such as leg symmetry, rotational symmetry, and physics invariance. As a result, these schemes require vast amounts of training data to learn the system's redundant elements because they are learned independently. Instead, we propose considering the geometric prior by representing the system in symmetrical object groups and designing neural network architecture to assess invariance and equivariance between the objects. Finally, we demonstrate the effectiveness of our approach by comparing the generalization to unseen data of the proposed model and the existing models. We also implement a controller of a climbing robot based on learned inverse dynamics models. The results show that our method generates accurate control inputs that help the robot reach the desired state while requiring less training data than existing methods.

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Optimized Design of a Haptic Unit for Vibrotactile Amplitude Modulation

Optimized Design of a Haptic Unit for Vibrotactile Amplitude...

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IEEE International Conference on robotics and Biomimetics

作者： Jingchen Huang Yun Fang Weichao Guo Zhijian Qiao Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering and the Meta Robotics Institute Shanghai Jiao Tong University Shanghai China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as lightweight, wearability, and high stability, with broad applications in sensory substitution, virtual reality, education, and healthcare. However, existing haptic unit designs lack amplitude modulation capabilities, which limits their applications. This paper proposed an optimized design of the haptic unit from the perspective of vibration amplitude modulation. A modified elastic model was developed to describe the propagation and attenuation mechanisms of vibration in the skin. Based on the model, two types of hierarchical architectural design were proposed. The design incorporated various materials arranged in multiple layers to amplify or attenuate the vibration amplitude as it traveled through the structure. An experimental platform was built to evaluate the performance of the optimized design.

关键词： Vibrations Solid modeling Virtual reality Amplitude modulation Robot sensing systems Motors Stability analysis Skin Haptic interfaces Spatiotemporal phenomena

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Teleoperated Puncture Robot System:Preliminary Design and Workspace Analysis

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Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 15-23页

作者： HU Bo LIN Yanping CHEN Shihang WANG Fang MA Xiaojun CAO Qixin School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China Department of Orthopedics Shanghai General HospitalShanghai Jiao Tong University School of MedicineShanghai 200080China

Radiofrequency ablation(RFA)guided by X-ray images aims to relieve herniated disc pain with mini-mal invasiveness and fast *** requires an accurate and fast positioning of the puncture *** propose a teleoperated robotic system for percutaneous puncture to support *** report the kinematics modelling and workspace analysis of the proposed system,which comprises preliminary and accurate positioning *** positioning mechanism automatically drives the needle to the puncture area,and accurate positioning is then achieved by teleoperation under the guidance of X-ray *** calculate the teleoperation workspace of the robot system using a spatial search algorithm and quantitatively analyze the optimal structural parameters aiming to maximize the *** workspace of the proposed robot system complies with clinical requirements to support RFA.

关键词： percutaneous puncture kinematics modelling Stewart platform teleoperation workspace

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An Intuitive Six-DOF Admittance Control Method for Human-Robot Collaboration

An Intuitive Six-DOF Admittance Control Method for Human-Rob...

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IEEE International Conference on robotics and Biomimetics

作者： Yuming Meng Xin Jiang Marten Erik Brelen Yun-Hui Liu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Department of Ophthalmology and Visual Sciences The Chinese University of Hong Kong HKSAR China Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong HKSAR China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Admittance control is a well-established frame-work for enhancing human-robot collaboration. Although it is widely applied in translational tasks, the a six-degree-of-freedom (6-DOF) admittance control involving the use of a handle in both translational and rotational spaces is rarely addressed in the literature. This paper introduces 6-DOF admittance control method that utilizes a handle equipped with a force/torque sensor mounted on the robotic arm to intuitively farme the operation of the end effector. By transforming the force/torque applied to the handle into the operation of the end-effector while preserving the operator's intent, intuitive 6-DOF admittance control is achieved. To eliminate the operational risks associated with the uncertainty of the hand's contact point on the handle, uncertainty shielding is implemented, ensuring stable force/torque calculations. The effectiveness of the proposed 6-DOF admittance control method is validated through an assembly operation and a specific trajectory operation.

关键词： Uncertainty Biomimetics Human-robot interaction Aerospace electronics Robot sensing systems 6-DOF End effectors Trajectory Admittance control Assembly

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End-to-End Reinforcement Learning for Torque Based Variable Height Hopping

arXiv

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arXiv 2023年

作者： Soni, Raghav Harnack, Daniel Isermann, Hauke Fushimi, Sotaro Kumar, Shivesh Kirchner, Frank Department of Electronics Engineering Indian Institute of Technology Banaras Hindu University Varanasi India DFKI GmbH Robotics Innovation Center Bremen Germany Undergraduate Course Program of Mechanical and Systems Engineering Kyoto University Kyoto Japan

Legged locomotion is arguably the most suited and versatile mode to deal with natural or unstructured terrains. Intensive research into dynamic walking and running controllers has recently yielded great advances, both in the optimal control and reinforcement learning (RL) literature. Hopping is a challenging dynamic task involving a flight phase and has the potential to increase the traversability of legged robots. Model based control for hopping typically relies on accurate detection of different jump phases, such as lift-off or touch down, and using different controllers for each phase. In this paper, we present a end-to-end RL based torque controller that learns to implicitly detect the relevant jump phases, removing the need to provide manual heuristics for state detection. We also extend a method for simulation to reality transfer of the learned controller to contact rich dynamic tasks, resulting in successful deployment on the robot after training without parameter tuning. © 2023, CC BY-NC-SA.

关键词： Reinforcement learning

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