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arXiv 2023年

作者： Sathya, Ajay Suresha Bruyninckx, Herman Decré, Wilm Pipeleers, Goele The Division of Robotics Automation and Mechatronics The Department of Mechanical Engineering KU Leuven Leuven Belgium DMMS-M Lab Flanders Make Leuven Belgium TU Eindhoven Netherlands Materialise NV Leuven Belgium

We derive a family of efficient constrained dynamics algorithms by formulating an equivalent linear quadratic regulator (LQR) problem using Gauss’ principle of least constraint and solving it using dynamic programming. Our approach builds upon the pioneering (but largely unknown) O(n + m2d + m3) solver by Popov and Vereshchagin (PV), where n, m and d are the number of joints, number of constraints and the kinematic tree depth respectively. We provide an expository derivation for the original PV solver and extend it to floating-base kinematic trees with constraints allowed on any link. We make new connections between the LQR’s dual Hessian and the inverse operational space inertia matrix (OSIM), permitting efficient OSIM computation, which we further accelerate using matrix inversion lemma. By generalizing the elimination ordering and accounting for MUJOCO-type soft constraints, we derive two original O(n + m) complexity solvers. Our numerical results indicate that significant simulation speed-up can be achieved for high dimensional robots like quadrupeds and humanoids using our algorithms as they scale better than the widely used O(nd2 + m2d + d2m) LTL algorithm of Featherstone. The derivation through the LQR-constrained dynamics connection can make our algorithm accessible to a wider audience and enable cross-fertilization of software and research results between the fields. © 2023, CC BY-SA.

关键词： Dynamic programming

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Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation

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IEEE Transactions on robotics 2025年 41卷 3518-3538页

作者： Wang, Kaidi Lai, Ganghua Yu, Yushu Du, Jianrui Sun, Jiali Xu, Bin Franchi, Antonio Sun, Fuchun Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology School of Mechanical Engineering Beijing100081 China University of Twente Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science Enschede7500 AE Netherlands Tsinghua University Department of Computer Science and Technology China

Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficiency in tasks like mapping and object reconnaissance. This paper proposes a control and state estimation framework for the Integrated Aerial Platform (IAP), enabling it to perform versatile tasks like object reconnaissance and physical interactive tasks with only onboard sensors. In the framework, the 6D motion control serves as the low-level controller, while the high-level controller comprises a 6D admittance filter and a perception-aware attitude correction module. The 6D admittance filter, serving as the interaction controller, is adaptable for aerial interaction tasks. The perception-aware attitude correction algorithm is carefully designed by adopting a geometric Model Predictive Controller (MPC). This algorithm, incorporating both offline and online calculations, proves to be well-suited for the intricate dynamics of an IAP. A 6D direct wrench controller is also developed for the IAP. Notably, both the interaction controller and the direct wrench controller operate without reliance on force/torque sensors. Instead, a wrench observer algorithm is devised, considering external disturbances. Additionally, based on the kinematics constraints of the multiple aerials in the platform, a fusion algorithm for multiple Visual-Inertial Odometry (VIO) and kinematics constraints is developed, providing more accurate localization. A prototype of the IAP is constructed, and its capabilities are demonstrated through experiments including perception-aware object reconnaissance, aerial mapping, aerial peg-in-hole task, and 6D contact wrench generation. All experiments are conducted exclusively with onboard sensors. These tasks exemplify the merits of the proposed IAP and validate the effectiveness of the proposed control framework and fusion algorithm. © 2004-2012

关键词： State estimation

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Effect of prehistory on the ambiguous stimuli processing in the human brain 5

Effect of prehistory on the ambiguous stimuli processing in ...

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5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Kuc, Alexander Neuroscience and Cognitive Technology Lab Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

To model the picture of the external environment, the brain uses data coming from the sensory system. However, it is believed that the brain’s representation of the external environment is formed not only by sensory information, but also by a priori knowledge, the so-called predictions. This work considers how the previous sensory information (sensory prehistory) influences the processing of the current visual stimuli. Bistable images of the Necker cube with varying degrees of ambiguity were used as visual stimuli. We found EEG biomarkers possibly reflecting the effect of prehistory on the brain state and the ongoing stimulus processing. © 2021 IEEE

关键词： Visualization Complex networks Biomarkers Brain modeling Electroencephalography Data models Time factors

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Features of real and imaginary human motor activity with EEG and fNIRS

Features of real and imaginary human motor activity with EEG...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Grubov, Vadim Badarin, Artem Frolov, Nikita Pitsik, Elena Center for Technologies in Robotics and Mechatronics Components Innopolis University Neuroscience and Cognitive Technology Lab Russia

ISBN: (纸本)9781728187631

Experimental design for recording of EEG and fNIRS during performance of real and imaginary movement was proposed. Set of experiments was conducted in accordance with this design and obtained EEG and fNIRS dataset was analyzed. Analysis allowed to introduce certain features in time-frequency domain that can be used to separate real motor activity from motor imagery. © 2020 IEEE.

关键词： Electroencephalography

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Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization

Proprioceptive Sensing of Soft Tentacles with Model Based Re...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Andrea Vicari Nana Obayashi Francesco Stella Gaetan Raynaud Karen Mulleners Cosimo Della Santina Josie Hughes CREATE Lab EPFL Lausanne Switzerland Scuola Superiore Sant'Anna Pisa Italy Università di Pisa Pisa Italy Department of Cognitive Robotics Delft University of Technology Delft The Netherlands UNFoLD EPFL Lausanne Switzerland Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are needed. In this work we propose a new sensing approach for soft underwater slender structures based on embedded pressure sensors and use a learning-based pipeline to link the sensor readings to the shape of the soft structure. Using two different modeling techniques, we compare the pose reconstruction accuracy and identify the optimal approach. Using the proprioceptive sensing capabilities we show how this information can be used to assess the swimming performance over a number of metrics, namely swimming thrust, tip deflection, and the traveling wave index. We conclude by demonstrating the robustness of the embedded sensor on a free swimming soft robotic squid swimming at a maximum velocity of 9.5 cm/s, with the absolute tip deflection being predicted within an error less than 9% without the aid of external sensors.

关键词： Pressure sensors Three-dimensional displays Shape Pipelines Propioception Soft robotics Robustness

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EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems

arXiv

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arXiv 2023年

作者： Coelho, Andre Albu-Schaeffer, Alin Sachtler, Arne Mishra, Hrishik Bicego, Davide Ott, Christian Franchi, Antonio Oberpfaffenhofen Germany Dextrous Robotics Inc. MemphisTN United States Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Netherlands Department of Informatics Technical University of Munich Germany Technical University of Vienna Austria LAAS-CNRS University of Toulouse France

This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigenmanifold theory, which defines the sets of line-shaped oscillations of a robot as an invariant two-dimensional submanifold of its state space. By defining the control problem as a nonlinear program (NLP), the controller is able to deal with constraints in the state and control variables and be energy-efficient not only in its final trajectory but also during the convergence phase. An initial implementation of this approach is proposed, analyzed, and tested in simulation. Copyright © 2023, The Authors. All rights reserved.

关键词： Model predictive control

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Bio-Skin: A Cost-Effective Thermostatic Tactile Sensor with Multi-Modal Force and Temperature Detection

arXiv

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arXiv 2025年

作者： Guo, Haoran Wang, Haoyang Li, Zhengxiong Tao, Lingfeng Oklahoma State University Mechatronics and Intelligent Robotics Lab 563 Engineering North StillwaterOK74075 United States University of Colorado Denver Department of Computer Science and Engineering 1380 Lawrence St. Center LW-834 DenverCO80217 United States

Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution and sensitivity of single-modal detection with high-cost components and densely integrated design, incurring complex manufacturing processes and unaffordable prices. In this work, we present Bio-Skin, a cost-effective multi-modal tactile sensor that utilizes single-axis Hall-effect sensors for planar normal force measurement and bar-shape piezo resistors for 2D shear force measurement. A thermistor coupling with a heating wire is integrated into a silicone body to achieve temperature sensation and thermostatic function analogous to human skin. We also present a cross-reference framework to validate the two modalities of the force sensing signal, improving the sensing fidelity in a complex electromagnetic environment. Bio-Skin has a multi-layer design, and each layer is manufactured sequentially and subsequently integrated, thereby offering a fast production pathway. After calibration, Bio-Skin demonstrates performance metrics—including signal-to-range ratio, sampling rate, and measurement range—comparable to current commercial products, with one-tenth of the cost. The sensor’s real-world performance is evaluated using an Allegro hand in object grasping tasks, while its temperature regulation functionality was assessed in a material detection task. Copyright © 2025, The Authors. All rights reserved.

关键词： Tactile sensors

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Semantic Segmentation in Unmanned Aerial Vehicle Surveillance for Detailed Urban Tree Mapping and Species Classification

Semantic Segmentation in Unmanned Aerial Vehicle Surveillanc...

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Advancements in Computing (ICAC), International Conference on

作者： S.M.R.B. Senanayake H.M.K.K.M.B. Herath S.L.P. Yasakethu B.G.D.A. Madhusanka Department of Mechatronics Engineering Sri Lanka Technology Campus Padukka Sri Lanka Computational Intelligence and Robotics Research Lab Sri Lanka Technology Campus Padukka Sri Lanka Department of Mechanical Engineering The Open University of Sri Lanka Nugegoda Sri Lanka

ISBN: (数字)9798331517878

ISBN: (纸本)9798331517885

Urban greening is becoming increasingly important, which has increased interest in tracking and analyzing urban vegetation and highlighted the necessity for an accurate and practical evaluation of greenery inside cities. Unmanned Aerial Vehicles (UAVs) have become an essential tool for mapping vegetation at a broad scale, frequently using orthographic views to manage the heavy workload. This research examines semantic segmentation and a particular issue with tree species identification brought on by perspective views from different heights. The methodology involved the semantic segmentation methods used without orthorectification on a single low-altitude (<100 m) UAV RGB image. It suggested that an innovative mathematical model be used to successfully reduce GPS inaccuracies, which are known to impact the precision of tree species identification. The proposed system demonstrated an overall accuracy of 89.81 (±1.45) %. Furthermore, the mathematical model exhibits the potential to significantly reduce GPS inaccuracies, leading to enhanced precision in tree species identification.

关键词： Accuracy Semantic segmentation Surveillance Green products Urban areas Vegetation mapping Vegetation Autonomous aerial vehicles Mathematical models Global Positioning System

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Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot

Improving Standing Balance Performance through the Assistanc...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Francisco J. Ruiz-Ruiz Alberto Giammarino Marta Lorenzini Juan M. Gandarias Jesú s H. Gó mez-De-Gabriel Arash Ajoudani Robotics and Mechatronics Group University of M&#x00E1 laga M&#x00E1 laga Spain HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy

This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkin-son's. In particular, we propose using a mobile collaborative robot with an interaction-assistive whole-body interface to help people unable to maintain balance. The robotic system consists of an Omni-directional mobile base, a high-payload robotic arm, and an admittance-type interface acting as a support handle while measuring human-sourced interaction forces. The postural balance of the human body is estimated through the projection of the body Center of Mass (CoM) to the support polygon (SP) representing the quasi-static Center of Pressure (CoP). In response to the interaction forces and the tracking of the human posture, the robot can create assistive forces to restore balance in case of its loss. Otherwise, during normal stance or walking, it will follow the user with minimum/no opposing forces through the generation of coupled arm and base movements. As the balance-restoring strategy, we propose two strategies and evaluate them in a laboratory setting on healthy human participants. Quantitative and qualitative results of a 12-subjects experiment are then illustrated and discussed, comparing the performances of the two strategies and the overall system.

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EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control...

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IEEE Conference on Decision and Control

作者： Andre Coelho Alin Albu-Schaeffer Arne Sachtler Hrishik Mishra Davide Bicego Christian Ott Antonio Franchi Institute of Robotics and Mechatronics of the German Aerospace Center (DLR) Oberpfaffenhofen Germany Dextrous Robotics Inc Memphis TN USA Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Netherlands Department of Informatics Technical University of Munich Germany Automation and Control Institute (ACIN) Technical University of Vienna Austria LAAS-CNRS University of Toulouse France

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

关键词： Analytical models Aerospace electronics Energy efficiency Trajectory Mechanical systems Oscillators Robots

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