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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Liu, Yang Zhao, Yanchao Guo, Weichao Sheng, Xinjun Ding, Han School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

This research aims to enhance the practicality of household service robots by integrating multimodal large language models (MLLMs). Utilizing a dual-arm mobile manipulator platform, our focus is on advancing autonomous mobile manipulation in home environments. By leveraging the advanced text understanding and visual processing capabilities inherent in MLLMs, the proposed system adeptly converts user dialogues and environmental visual inputs into precise robotic plans. Among the suite of tested models, GPT-4o mini and Gemini 1.5 flash perform exceptionally well in generating accurate robotic plans. These results underscore a significant enhancement in the robot's ability to manipulate objects within complex home environments, thereby contributing to more seamless human-robot interactions and markedly improved task execution. We anticipate that our findings will inspire future advances in the field of human-robot interaction for home robots. © 2024 IEEE.

关键词： Human robot interaction

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RoboCup 2024 Adult-Sized Humanoid Champions Guide for Hardware, Vision, and Strategy

RoboCup 2024 Adult-Sized Humanoid Champions Guide for Hardw...

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27th RoboCup International Symposium, 2024

作者： Fernandez, Gabriel I. Liu, Yeting Togashi, Colin Gillespie, Kyle Zhu, Alvin Wang, Quanyou Wang, Yicheng Nam, Hyunwoo Wang, Shiqi Hou, Ruochen Zhu, Mingzhang Navghare, Aditya Xu, Alex Zhu, Taoyuanmin Sung Ahn, Min Flores Alvarez, Arturo Quan, Justin Hong, Ethan Hong, Dennis W. RoMeLa Robotics and Mechanisms Laboratory Department of Mechanical and Aerospace Engineering Geffen Academy at UCLA University of California Los AngelesCA90095 United States

ISBN: (纸本)9783031858581

Through the course of RoboCup 2024 our team scored 45 goals over 6 seated matches and, ultimately, unseated the longstanding reigning champions in our division with a victory of 6 goals to 1. In this paper we will focus on hardware, vision, and high-level decision making while briefly touching upon others. Our humanoid robot named Artemis is around 1.4 m tall, weighing over 35 kg. Artemis is designed to be lightweight featuring quasi-direct drive actuators with motor housings which serve as drive inputs to the next motor at the hips to save weight. For the tournament the foot was redesigned to allow for increased kicking accuracy, contact rate, and durability when stepped on. For vision we introduce several practical filters and an additional component termed proximity to address potential failure cases when an opponent or obstacle is very near. Finally, we discuss the strategies and overall planning architecture used during the tournament for high level decision making. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Anthropomorphic robots

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Electro-humidity responsive soft actuators based on cellulose nanofibers-nanocrystals for bioinspired applications

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Science China Technological Sciences 2025年

作者： Fan WANG Ruibin QI Yujiao WU Qinchuan LI Junhui ZHANG Sukho PARK School of Mechanical Engineering Zhejiang Sci-Tech University State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST)

Multifunctional responsive actuators have garnered considerable attention for their potential applications in soft robots, wearable devices, smart displays, environmental sensing, and biomimetic systems. Herein, we present a multifunctional color-changing ionic soft actuator that integrates electrical actuation and humidity-induced color-changing functionalities,fabricated using carboxylated cellulose nanofibers, ionic liquids, polyvinyl alcohol, cellulose nanocrystals, and poly(ethylene glycol) diacrylate. The electro-humidity responsive actuator exhibited remarkable actuation performance, including a maximum tip displacement(10.2 mm), low driving voltage(as low as 1.0 V), high operational stability(95.2% reliability after 2000actuation cycles), broad working frequency range(0.2–3.0 Hz), and exceptional tolerance to humid environments(90% relative humidity). In addition, the actuator showcased reversible and integrated color-changing capabilities. These features enabled the design of innovative devices, such as biomimetic flowers and smart color-changing windows with tunable optical ***, this multifunctional actuator provides a promising platform for applications in soft robots, optical anti-counterfeiting systems, information storage materials, and intelligent home technologies.

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic Systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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New Approaches and Recent Applications of Tensegrity Structures

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Journal of engineering Science and Technology Review 2023年第5期16卷 1-12页

作者： Guacheta-Alba, Juan C. Valencia-Castaneda, Angie J. Dutra, Max Suell Aviles, Oscar F. Mauledoux, Mauricio Robotics Laboratory Mechanical Engineering Department Universidade Federal do Rio de Janeiro Rio de Janeiro21941-914 Brazil Davinci Research Group Mechatronics Engineering Department Universidad Militar Nueva Granada Bogotá111071 Colombia

Tensegrity is composed of structures that are characterized by compressive elements (bars) and tension elements (cables) that work together to transmit and/or withstand forces in an efficient and balanced manner. Their kinetic analysis, design, and control are study topics with various methods still being explored. Furthermore, research and development have been conducted in different areas such as architecture, engineering, biomechanics and robotics, exploring lightweight and resilient tensegrity structures for more flexible and adaptable movements. Tensegrity is a structure increasingly used and studied in different areas, thanks to its ability to transmit forces efficiently and its versatility in the application of designs and solutions in different areas. So, this review presents initial definitions of this area, as well as recent methods and applications that have been developed and are the focus of study for future advances. © 2023 School of Science, IHU. All Rights Reserved.

关键词： Deployable structures Flexible mechanisms Structural analysis Tensegrity Topology

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Design, Modeling and Control of a Dielectric Elastomer Actuated Micro-positioning Stage 16th

Design, Modeling and Control of a Dielectric Elastomer Ac...

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

作者： Yan, Peinan Gu, Guoying Zou, Jiang Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819964918

In this paper, we propose one kind of a dielectric elastomer actuated micro-positioning stage (DEAMS) that can achieve both large stroke and high resolution. To this end, a customized multilayer dielectric elastomer actuator (DEA), made of silicone, is designed and fabricated, which can generate a linear movement. Then based on the DEA, a DEAMS is designed with a stroke of nearly 1 mm and resolution of 480 nm. Next, several dynamic tests are conducted to reveal its dynamic responses: i) the natural frequency of the DEAMS can reach 80 Hz;ii) its output displacement shows both slow-time creep and rate-dependent hysteresis because of the inherent viscoelasticity. Lastly, a direct inverse hysteresis compensation (DIHC) controller based on a phenomenological hysteresis model and a closed-loop controller are adopted to remove hysteresis and creep, respectively. Experimental results demonstrate that with our control method, the DEAMS can achieve high-precision tracking control, which may pave the way for its applications in the field of micro/nano manipulations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Silicones

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MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripper 16th

MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripp...

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

作者： Ren, Jieji Zou, Jiang Gu, Guoying Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819964949

Camera-based tactile sensors provide a convenient and low-cost approach for robot tactile perception. However, existing sensors are customized and only suit limited robots, which retards tactile applications. In this work, we proposed a modular design for camera-based tactile sensor to facilitate their integration on various robot grippers and fingers. Specifically, we disassemble tactile sensors into sense module for sensing surface interaction, receptor module for arranging camera, illumination, and structure elements, and adapter module for connection with robot gripper. Experiments show the proposed sensors can adopt various robot grippers and achieve high tactile perception performance. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Cameras

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High Performance Soft Electrochemical Actuators Based on Hierarchical Conductive Polymer Ionogels

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Journal of Bionic engineering 2023年第6期20卷 2755-2763页

作者： Hongwei Hu Shengtao Zhang Yan Li Xinghao Hu Lin Xu Aixin Feng Guanggui Cheng Jianning Ding Zhejiang Provincial Key Laboratory of Laser Processing Robotics College of Mechanical and Electrical EngineeringWenzhou UniversityWenzhou325035China Institute of Intelligent Flexible Mechatronics Jiangsu UniversityZhenjiang212013China School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang212100China School of Mechanical Engineering Yangzhou UniversityYangzhou225127China Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou UniversityChangzhou213164China Ruian Graduate School of Wenzhou University Ruian325207ZhejiangChina

Electrochemical actuators based on conductive polymers are emerging as a strong competitive in the field of soft actuators because of their intrinsically conformable/elastic nature,low cost,low operating voltage and air-working *** development has shown that adding electroactive materials,such as CNT and graphene,can improve their actuation *** the complex material systems used,their output strains(one of the key factors)are generally lower than 1%,which limited further applications of them in multiple ***,we report soft electrochemical actuators based on conductive polymer ionogels by embedding polyaniline particles between the PEDOT:PSS *** show that such a hierarchical structure not only leads to a high conductivity(1250 S/cm)but also improved electrochemical *** a low operating voltage of 1 V,the maximum strain of these soft actuators reaches an exceptional value of 1.5%,with a high blocking force of 1.3 *** these high-performance electrochemical actuators,we demonstrate soft grippers for manipulating object and a bionic flower stimulated by an electrical *** work sets an important step towards enabling the enhanced performance of electrochemical actuators based on conductive polymers with designed microstructures.

关键词： Conductive polymer Soft actuator Polyaniline PEDOT:PSS Bioinspired actuator

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An integrated decision-making process for sustainable supplier selection and order allocation in the automotive industry 31

An integrated decision-making process for sustainable suppli...

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31st CIRP Conference on Life Cycle engineering, LCE 2024

作者： Ghadimi, Pezhman Sar, Kubra Azadnia, Amir Hossein Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland School of Business Maynooth University Maynooth Ireland

A sustainable supplier selection problem can be concisely defined as a classical supplier selection problem that incorporates environmental and social criteria to select and monitor suppliers' performances, creating the sustainable supplier selection and order allocation (SSS&OA) problem. Finding the optimal order allocation to suppliers in the automotive industry is crucial as it can significantly improve the social, environmental, and economic performance of the whole supply chain. Therefore, this research aims to find an optimal order allocation plan for suppliers using an augmented ϵ-constraint optimization method in the automotive industry while considering all three dimensions of sustainability. Using a previously established comprehensive framework, this paper has adapted the solution approach of an existing bi-objective order allocation model that was used to make sourcing decisions. The results showed a higher total value of sustainable purchasing is achieved by the augmented ϵ-constraint optimization method compared to the traditional max-min method. © 2024 The Author(s).

关键词： Automotive industry

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Droplet-based Microfluidic Platform for High-throughput Formation of Multicellular Spheroids

Droplet-based Microfluidic Platform for High-throughput Form...

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2023 Annual IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2023

作者： Zhan, Zhen Xie, Hanhan Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China

ISBN: (纸本)9798350344486

Cell culture in vitro is essential for drug screening, disease modeling, and stem cell-related research. Previous studies have indicated that two-dimensional (2D) cellular environments can significantly differ from physiological cells in vivo, leading to a high failure rate when translating therapeutics developed in 2D cell models to clinical applications. Therefore, there is a strong focus on developing three-dimensional (3D) cell culture techniques that more closely mimic in vivo cell microenvironments. These techniques hold great promise for enhancing precision in drug discovery and tissue regeneration. In this study, we introduce a novel microfluidic technique that utilizes droplets to fabricate hydrogel microspheres, each exhibiting a unique internal morphology suitable for 3D cell culture applications. Specifically, we employed this method to cultivate human umbilical vein endothelial cells (HUVECs) within the interior canals of the hydrogel microspheres, forming monolayers on the surfaces of the spiral canals. This setup effectively mimicked the configurations of native blood vessels. Furthermore, we successfully demonstrated the fabrication of heterogeneous spheroids with spiral blood vessel lumens, which can be utilized to construct spiral vascularized bone tissue. © 2023 IEEE.

关键词： Microfluidics

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