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2025 International Conference on Unmanned Aircraft Systems, ICUAS 2025

作者： Alharbat, Ayham Ruscelli, Gabriele Diversi, Roberto Mersha, Abeje Saxion University of Applied Science Smart Mechatronics and Robotics research group Enschede Netherlands University of Twente Robotics and Mechatronics research group Faculty of Electrical Engineering Mathematics & Computer Science Enschede Netherlands University of Bologna Department of Electrical Electronic and Information Engineering Bologna Italy

ISBN: (纸本)9798331513283

This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a firstprinciples model and a neural network. This framework addresses one of the limitations of the state-of-the-art modelbased wrench observers: the wrench estimation of these observers comprises the external wrench (e.g. collision, physical interaction, wind);in addition to residual wrench (e.g. model parameters uncertainty or unmodeled dynamics). This is a problem if these wrench estimations are to be used as wrench feedback to a force controller, for example. In the proposed framework, a neural network is combined with a first-principles model to estimate the residual dynamics arising from unmodeled dynamics and parameters uncertainties, then, the hybrid trained model is used to estimate the external wrench, leading to a wrench estimation that has smaller contributions from the residual dynamics, and affected more by the external wrench. This method is validated with numerical simulations of an aerial robot in different flying scenarios and different types of residual dynamics, and the statistical analysis of the results shows that the wrench estimation error has improved significantly compared to a model-based wrench observer using only a firstprinciples model. © 2025 IEEE.

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Identification of Flexible Joint Robot Inertia Matrix Using Frequency Response Analysis

Identification of Flexible Joint Robot Inertia Matrix Using ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Kiyoung Choi Junho Song Wonbum Yun Deokjin Lee Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

This paper introduces a novel method for identifying the inertia matrix of multi-DOF Flexible Joint Robots (FJR) that is robust to nonlinearity. By leveraging resonance and anti-resonance frequencies in the Frequency Response Functions (FRF), our approach overcomes limitations of conventional methods prone to mechanical nonlinearities, offering more accurate robot control. Additionally, it highlights the benefits of frequency domain system identification, including nonlinear robustness and flexible joint decomposition into motor and load components. A novel sequential excitation algorithm is proposed for inertia matrix determination, validated through simulation and experiment.

关键词： Industrial electronics Service robots Robot control Resonant frequency Motors Frequency response Robustness

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SLIP Nature Embodied Robust Quadruped Robot Control

SLIP Nature Embodied Robust Quadruped Robot Control

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jin Song Hong Changmin Yeo Sangjin Bae Jeongwoo Hong Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

Recent research on quadruped robots has been achieving high-performance motion control based on optimization and reinforcement learning. However, there is still ongoing research aimed at demonstrating high-performance motion based on simple and dominant dynamic principles. In this paper, we proposed a novel control approach that projects Spring-Loaded Inverted Pendulum (SLIP) dynamics to articulated legs, utilizing admittance control based force observer within a rotating workspace (RWFOB). Unlike other legged robots that depend on sensor-based estimation of external forces, the proposed method presents an alternative approach that reduces the reliance on sensors. Additionally, we introduce a comprehensive control framework for quadruped robot motion control, establishing the connection between trunk and SLIP-realized leg movements using Jacobian. The effectiveness of the proposed framework as a robust and reliable trunk feedback controller is validated through simulation and experiments.

关键词： Legged locomotion Jacobian matrices Robot motion Dynamics Reinforcement learning Robot sensing systems Quadrupedal robots

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TAGA: A Tangent-Based Reactive Approach for Socially Compliant Robot Navigation Around Human Groups

arXiv

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arXiv 2025年

作者： Roy, Utsha Kumar Rahman, Sejuti The Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka Bangladesh

Robot navigation in densely populated environments presents significant challenges, particularly regarding the interplay between individual and group dynamics. Current navigation models predominantly address interactions with individual pedestrians while failing to account for human groups that naturally form in real-world settings. Conversely, the limited models implementing group-aware navigation typically prioritize group dynamics at the expense of individual interactions, both of which are essential for socially appropriate navigation. This research extends an existing simulation framework to incorporate both individual pedestrians and human groups. We present Tangent Action for Group Avoidance (TAGA), a modular reactive mechanism that can be integrated with existing navigation frameworks to enhance their group-awareness capabilities. TAGA dynamically modifies robot trajectories using tangent action-based avoidance strategies while preserving the underlying model’s capacity to navigate around individuals. Additionally, we introduce Group Collision Rate (GCR), a novel metric to quantitatively assess how effectively robots maintain group integrity during navigation. Through comprehensive simulation-based benchmarking, we demonstrate that integrating TAGA with state-of-the-art navigation models (ORCA, Social Force, DS-RNN, and AG-RL) reduces group intrusions by 45.7–78.6% while maintaining comparable success rates and navigation efficiency. Future work will focus on real-world implementation and validation of this approach. Additional details and resources are available at https:// ***/***/taga/home. Copyright © 2025, The Authors. All rights reserved.

关键词： Population dynamics

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Improving Biomedical Systems With robotics & Automation 19

Improving Biomedical Systems With Robotics & Automation

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19th IEEE International Conference on Smart Communities: Improving Quality of Life Using ICT, IoT and AI, HONET 2022

作者： Slate, Samuel J Tryon, Cole C Uribe, Fernando E Howland, William Marshall, Matt Voicu, Razvan Cristian Kennesaw State University Robotics & Mechatronics Engineering AtlantaGA United States

ISBN: (纸本)9781665461979

In biomedical processes, there are a wide variety of operations that require the use of pipetting and transferring liq-uids into a specialized dish known as a microplate. For example, researchers and scientists utilize Enzyme-Linked Immunosorbent Assay (ELIZA) to test for specific antigens within a testing solution. Researchers use a handheld, manual pipette during most ELISA tests to move solutions into microplates. While the entire ELISA process often incorporates machines/automation at different steps along the way, the pipetting process usually remains manual. Integrating an automated pipetting system into one such biomedical process can enhance repeatability and optimize time and accuracy. This paper presents the design and implementation of a custom biomedical pipetting system that uses stepper motors along three Cartesian axes to allow precise placement and control of the pipette end effector into individual bays of a microplate. The results show promising improvement both in time and equal volume distribution. © 2022 IEEE.

关键词： Computer vision

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Wheeled Mobile Robots on Rough Terrains as Stochastic Nonholonomic Systems

Wheeled Mobile Robots on Rough Terrains as Stochastic Nonhol...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Gzenda, Vaughn Chhabra, Robin Carleton University Autonomous Space Robotics and Mechatronics Laboratory Mechanical and Aerospace Engineering Department OttawaONK1S5B6 Canada

ISBN: (纸本)9781665410205

In this paper, we investigate the motion of wheeled mobile robots on rough terrains modeled as noisy nonholonomic constraints. Such constraints are the natural extension of ideal nonholonomic constraints when the Stratonovich process is directly introduced in the constraint equations. The resulting stochastic model can capture motion on rough surfaces, random deformation in the wheel-ground contact, or stochastic loss/gain of traction. We study a differential robot with ideal noisy and affine noisy constraints, where each case models a certain aspect of motion on rough terrains. We then investigate their corresponding stochastic dynamics and the propagation of mean and covariance through Monte-Carlo simulations. The proposed model for roving rough terrains has the potential to serve as the stochastic model employed in model-based motion planning, pose estimation, and control of rover systems. The main challenge will be dealing with the nonlinear appearance of the noise and its feedback in the equations of motion. © 2024 IEEE.

关键词： Stochastic models

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Identification of Flexible Joint Robot Inertia Matrix Using Frequency Response Analysis

Identification of Flexible Joint Robot Inertia Matrix Using ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Kiyoung Choi Junho Song Wonbum Yun Deokjin Lee Sehoon Oh Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper presents a novel, nonlinearity robust identification method for deriving the inertia matrix of multi-DOF Flexible Joint Robots (FJR), utilizing resonance and anti-resonance frequencies in the Frequency Response Functions (FRF). Our proposed method overcomes the limitations of conventional approaches, which are susceptible to mechanical nonlinearities, leading to inaccurate models. By leveraging frequency domain techniques, our approach effectively mitigates the influence of nonlinear characteristics, providing a more accurate and reliable means of robot control. Furturmore, the paper highlights the benefits of frequency domain system identification, including nonlinear robustness and the ability to decompose the flexible joint into motor and load components. Finally, a novel sequential excitation algorithm is proposed to obtain the inertia matrix of a multi-DOF robot manipulator without relying on complex theories or optimizations. The effectiveness of the proposed algorithm is verified through simulation and experiment.

关键词： Frequency-domain analysis Robot control Resonant frequency Motors Frequency response Robustness Resonance System identification Matrix decomposition Optimization

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Exploring the Efficacy of NAO Robot as a Language Instructor 24

Exploring the Efficacy of NAO Robot as a Language Instructor

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Proceedings of the 2024 10th International Conference on robotics and Artificial Intelligence

作者： Ipshita Ahmed Moon Humayra Rashid Safayat Hasan Md. Sameer Iqbal Chowdhury Shifat E. Arman Lafifa Jamal Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka Bangladesh

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Design and Analysis of a Piezo-based Decoupled 3-DOF (XY?) Micropositioner with Large Workspace 26

Design and Analysis of a Piezo-based Decoupled 3-DOF (XY?) M...

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26th International Conference on Computer and Information Technology, ICCIT 2023

作者： Das, Tilok Kumar Shahrear, Rifat Shirinzadeh, Bijan Dept. of Mechanical Engineering Chattogram Bangladesh Monash University Robotics and Mechatronics Research Laboratory Dept. of Mechanical and Aerospace Engineering Melbourne Australia

ISBN: (纸本)9798350359015

This paper presents a piezo-based compliant planer 3-DOF micropositioning stage for decoupled large workspace of the platform. Three piezoelectric actuators inside three double-stairs bridge-type mechanisms were used to drive the output platform in XY? directions. A-3PPR type kinematic chain has been oriented parallelly in such a way to have a rotational symmetry about the centroid. Two different types of prismatic flexure joints with a passive rotary flexure joint were utilized in each kinematic chain. The proposed design focused on the redundancy of the cross-axis coupling effect from the other axes during directional movements. To evaluate the performance, Finite Element Analysis (FEA) has been conducted. The decoupled 3-DOF micropositioning stage is able to maintain the maximum parasitic motion of 0.05% and 1.95 % in the Y and ? directions of their respective directional working range. So, the effect of cross-coupling motion during directional movement can be presumed to be less in this case. Further, the FEA results show that the micropositioning stage has a large work envelope of ±271.1 µm × 235 µm × ± 6.0352 mrad. Moreover, the evaluation of the dynamic characteristics predicts that out-of-plane motion will be less likely to occur. Thus, the 3-DOF micropositioning stage can provide a unidirectional decoupled large range of motions. © 2023 IEEE.

关键词： Compliant mechanism Cross-coupling effect Decoupling Finite Element Analysis (FEA) Planer motion

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Graphene Oxide Integrated Surface Acoustic Wave Humidity Sensor with Simultaneous Multi-Frequency Operation 22

Graphene Oxide Integrated Surface Acoustic Wave Humidity Sen...

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22nd International Conference on Solid-State Sensors, Actuators and Microsystems, Transducers 2023

作者： Jang, Il Ryu Jung, Soon In Ryu, Chaehyun Park, Jeonhyung Padhan, Aneeta Yu, Jaesok Keum, Hohyun Kim, Hoe Joon Dgist Department Of Robotics And Mechatronics Engineering Korea Republic of Digital Health Care R&d Department Korea Republic of

ISBN: (纸本)9784886864352

Humidity is crucial in agriculture, electronic device fabrication, and climate change. In particular, as the coronavirus outbreak globally spreads, airborne water moisture has been considered the carrier of airborne viruses. Therefore, there is much need to develop accurate and precise humidity sensors to predict and prevent coronavirus transmission. This paper presents the multi-frequency surface acoustic wave (SAW) platform with graphene oxide (GO) decoration for humidity sensing. The novel claims include (1) the localized integration of GO with ng-resolution using an electrospray deposition (ESD) system, (2) highly sensitive and stable sensing performances by selecting proper operating resonant frequency depending on relative humidity (RH) levels, and (3) use of the developed sensor for face mask inspection. Our findings suggest that the multi-frequency SAW ensures high measurement sensitivity over a large RH range, further improving the current state of the resonator-based humidity sensors. © 2023 IEEJ.

关键词： Electrospray deposition Graphene oxide Humidity sensor Surface acoustic wave

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