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arXiv 2025年

作者： Spoljaric, Dario Yashuai, Yan Lee, Dongheui Autonomous Systems TU Wien Vienna Austria Autonomous Systems TU Wien Institute of Robotics and Mechatronics DLR Vienna Austria Wessling Germany

Reinforcement-learned locomotion enables legged robots to perform highly dynamic motions but often accompanies time-consuming manual tuning of joint stiffness. This paper introduces a novel control paradigm that integrates variable stiffness into the action space alongside joint positions, enabling grouped stiffness control such as per-joint stiffness (PJS), per-leg stiffness (PLS) and hybrid joint-leg stiffness (HJLS). We show that variable stiffness policies, with grouping in per-leg stiffness (PLS), outperform position-based control in velocity tracking and push recovery. In contrast, HJLS excels in energy efficiency. Furthermore, our method showcases robust walking behaviour on diverse outdoor terrains by sim-to-real transfer, although the policy is sorely trained on a flat floor. Our approach simplifies design by eliminating per-joint stiffness tuning while keeping competitive results with various metrics. © 2025, CC BY.

关键词： Reinforcement learning

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Design and Fabrication of a Six DOF Gantry Robot for Welding Applications

Design and Fabrication of a Six DOF Gantry Robot for Welding...

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Emerging Technologies for Sustainability and Intelligent Systems (ICETSIS), ASU International Conference in

作者： Mugheera Saleem Saad Jameel Aitazaz Hassan Zeashan H. Khan Department of Robotics & AI SMMENUST Islamabad Pakistan Department of Mechatronics Engg Air University Islamabad Pakistan Center for Intelligent Manufacturing & Robotics Research (IRC-IMR) KFUPM Dhahran Saudi Arabia

In this paper, the design and development of a six degree of freedom (DOF) gantry robot for welding applications is discussed. Welding operation involves safety risks as it deals with high temperatures and currents. Therefore, integration of an automated welding robot in the manufacturing setup involves a careful design and fabrication of the robot for the intended application. In this paper, we start from the mathematical modeling combined with mechanical design to obtain a solid 3d simulation model. Later, each part of the hardware is integrated to form the complete system. The hardware is tested for robustness and precision welding.

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Sunram 7: An MR Safe Robotic System for Breast Biopsy

Sunram 7: An MR Safe Robotic System for Breast Biopsy

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

作者： Harsh Ranjan Marijn Van Hilten Vincent Groenhuis Juan Verde Alain Garcia Silvana Perretta Jeroen Veltman Françoise J. Siepel Stefano Stramigioli Robotics and Mechatronics University of Twente Enschede The Netherlands IHU Strasbourg France Ziekenhuisgroep Twente Almelo The Netherlands

In breast cancer patients, some nodules are only visible on MRI, thus, requiring MRI-guidance to perform the biopsy. MRI interventions are cumbersome due to the magnetic field and the constrained working space. An MR safe robotic system actuated by pneumatic stepper motors may enable these procedures, improving both accuracy and image-guided navigation. A compact multipurpose pneumatic stepper motor has been designed with outer dimensions $(45 \times 40\times 15)\mathbf{mm}^{\mathbf{3}}$ . This is configurable as a linear, rotational or curved stepper motor with a customizable step size and radius of curvature. Five copies of these motors actuate the Sunram 7 biopsy robot, of which the moving part (without protruding racks and tubes) measures $(130 \times 65\times 55)\mathbf{mm}^{\mathbf{3}}$ . After manually choosing the target location and angle of approach, the needle is robotically inserted into the breast and the integrated pneumatic biopsy gun is fired to sample tissue from the lesion. The maximum torque of the presented motor is 0.61 N m at 6 bar which can be achieved using 13-teeth polycarbonate gears. Using 17-teeth gears for higher accuracy and a more convenient working pressure of 2 bar the maximum torque is 0.28 N m. The accuracy in free air of the Sunram 7 robot is 1.69mm and 1.72mm in X and Z-direction respectively, with a resulting 2-D error of 2.54 mm. The workspace volume is 4.1 L. When targeting 10 mm-sized lesions in phantoms under MRI guidance, Sunram 7 achieved a success rate of 68%. The minimum interval between two successive biopsies was 5:47 minutes. The presented multipurpose stepper motor has distinct advantages over previous designs in terms of robustness, customizability, printability and ease of integration in MR safe robotics. The Sunram 7 is able to perform accurate MRI-guided biopsies in a large workspace volume while reducing the intervention time when compared to the gold standard (i.e., MRI-guided free-hand biopsy).

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Detecting End Effector Command Pose Error Using Perfect Bit Field Imaging

Detecting End Effector Command Pose Error Using Perfect Bit ...

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International Carpathian Control Conference (ICCC)

作者： Tomáš Buchta Jaroslav Hlava Tomáš Martinec Jaroslav Buchta Yegor Boyarchikov Department of Mechatronic Systems and Robotics Technical University of Liberec Liberec Czechia Institute of Mechatronics and Computer Engineering Technical University of Liberec Liberec Czechia

ISBN: (数字)9798331501273

ISBN: (纸本)9798331501280

This paper presents a novel approach to improving the precision of robotic arm operations in complex environments by using Perfect Bit Field Imaging (PBFI) for end effector command pose error detection. Accurate pose determination is essential for tasks such as manipulation, assembly, and autonomous navigation, particularly in space or hazardous settings where precision is critical. PBFI leverages high-resolution industrial cameras to capture detailed pixel-level information that can be used to correct the end effector’s position. The system’s key advantage is its low-cost nature, making it an attractive alternative to expensive sensor-based approaches. Advanced image processing techniques are used to interpret bit fields, allowing for quick and reliable pose corrections that reduce the need for recalibration and minimize the impact of external disturbances. Additionally, the approach is adaptable to various robotic arm configurations and operational conditions, making it suitable for a wide range of industrial and space-based applications. This research opens new avenues for enhancing robotic precision in challenging environments, contributing to the advancement of cost-effective autonomous systems.

关键词： Accuracy Service robots Image processing Robot vision systems Refining End effectors Real-time systems Error correction Robots Optimization

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Applying Radio Frequency Attenuators to Reduce the Impact of U-NII-4 Interference on DSRC Channel 180

Applying Radio Frequency Attenuators to Reduce the Impact of...

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IEEE Southeastcon

作者： Grayson Hatcher Marco Tello Nathan Kirkwood Billy Kihei Department of Electrical and Computer Engineering Kennesaw State University Marietta Georgia Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta Georgia

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

In recent years, competition within Radio Frequency (RF) communication bands has led to an overlap between the U-NII-4 band used by low-cost consumer devices, and the Dedicated Short Communication Band (DSRC) used by the Georgia Department of Transportation. Past research confirmed that this interference leads to drastic reduction in Packet Reception Rate (PRR) for Roadside Units (RSUs) and On-Board Units (OBUs) throughout the country, resulting in a reduction of stability between different components of the Intelligent Transportation System (ITS). Our research team set a goal to prove that a low-cost and simple modification can be made to RSUs currently in use that could increase PRR, by developing and testing RF technologies, primarily attenuators available on the market currently. These solutions could be easily adapted to infrastructure systems, and only require they run in-line with the stock antennas already in use. We were able to accomplish this goal, as well as made findings that may be beneficial within the world of RF communications for RSU devices.

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Target Tracking Control of Space-Manipulators on Lie Groups

Target Tracking Control of Space-Manipulators on Lie Groups

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IEEE International Conference on Systems, Man and Cybernetics

作者： Borna Monazzah Moghaddam Robin Chhabra Mechanical and Aerospace Engineering Department Autonomous Space Robotics and Mechatronics Laboratory Carleton University Ottawa ON Canada

We present a full-pose end-effector control approach on Lie groups for free-floating space manipulators with non-zero momentum while tracking a moving target during proximity operations. We model space-manipulators as open-chain multi-body systems with 1-degree-of-freedom joints where the configuration space of the spacecraft is isomorphic to the Special Euclidean group SE(3). We formulate the dynamics of the spacecraft-manipulator via the Lagrange-Poincare equations and the dynamics of its target via Euler-Poincare equations to avoid kinematic singularities associated with parametrization of their poses. This model reduces the phase space of the space-manipulator by exploiting its inherent independence of the spacecraft's pose. We consider the full pose of the end-effector relative to the target as the system output, which transforms the output-tracking control problem into an output-regulation problem. To avoid parametrization singularities of this output, we perform feedback linearization on the matrix Lie group SE (3) in the reduced phase space of the space-manipulator. We then propose a feedback/feedforward proportional-integral-derivative workspace controller, based on coordinate-free pose and velocity error functions defined on the matrix Lie group associated with the target's relative pose. We provide analytical proof of the almost-global stability of the presented controller when regulating the end-effector's pose relative to the target towards identity.

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Behavioral Algorithms for Mechatronic Systems: A Digital Twin Perspective

Behavioral Algorithms for Mechatronic Systems: A Digital Twi...

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International Carpathian Control Conference (ICCC)

作者： Gabriel Ion Manescu Andrei-Costin Trasculescu Florin-Alexandru Dita Daniela Coman Nicu George Bizdoaca Mechatronics and Robotics Department University of Craiova Craiova Romania Engineering and Management of Technological Systems Department University of Craiova Drobeta Turnu Severin Romania

ISBN: (数字)9798331501273

ISBN: (纸本)9798331501280

The behavioral modelling of mechatronic systems through the Digital Twin concept represents an advanced methodology for their design and optimization. A Digital Twin creates a dynamic virtual model that accurately reflects the real-time behavior of the physical system, enabling the analysis and simulation of various operational scenarios. Siemens NX is a comprehensive design and simulation tool, offering extensive capabilities for developing and testing mechanical, electronic, and software components in a virtual environment. This integration empowers designers to examine the complex interactions among subsystems, reducing risks and enhancing performance from the initial design stages. Digital models, empowered by the potential of Digital Twin technology, not only predict dynamic system behavior and identify potential defects but also enable real-time monitoring and continuous updates of the digital twin based on data collected from actual systems. This technology holds the promise of enhancing the energy efficiency, reliability, and longevity of mechatronic systems. The combination of Digital Twin technology and Siemens NX fosters the development of intelligent, customized solutions that address intricate requirements in fields such as advanced manufacturing, industrial automation, and autonomous transportation, inspiring a future of optimized and efficient systems. This article explores these capabilities by presenting two applications: integrating a robotic structure within a conveyor system and integrating a robot for servicing a machine tool. In conclusion, the synergy of these two technologies establishes a working algorithm that users must follow when designing and operating mechatronic systems while also outlining the advantages and disadvantages of this approach.

关键词： Electric potential mechatronics Service robots Virtual environments Transportation Real-time systems Software Digital twins Reliability Testing

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Kinematic Modeling of Serial Robotic Manipulators to Automate the Packaging Process of Tuna Cans

Kinematic Modeling of Serial Robotic Manipulators to Automat...

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IEEE Latin American robotics Symposium, LARS

作者： Clevex Rodriguez Ventura Maikol Sánchez Bacilio Leonardo Guimaraes Zavaleta Jose Cornejo Ricardo Palomares Professional School of Mechatronics Engineering Universidad Nacional de Trujillo Trujillo Peru Universidad Tecnologica el Peru Lima Peru Research Group of Advanced Robotics and Mechatronics (GI-ROMA) Universidad Ricardo Palma

ISBN: (数字)9798331508807

ISBN: (纸本)9798331508814

During 2024, the food and fishing derivatives industry contributed to the growth of Peru’s gross domestic product (GDP) by 5.28%. Only during the years 2020-2021, the “food and beverage products industry” presents a production of canned frozen fish and seafood of $\mathbf{9 4 8 4 2}$ MT. This publication presents the kinematic modeling and trajectory planning of two serial manipulators to automate the tuna can packaging process. A robotic system is proposed where tuna cans are placed and sorted inside boxes by a 3-DOF SCARA robot and these are packaged by a 6-DOF anthropomorphic robot. The calculation of the forward kinematics was carried out using the DenavitHartenberg convention and the inverse kinematics using the geometric method and kinematic decoupling for both serial manipulators. A trajectory planner was developed in Matlab R2021a that uses a 4-3-4 polynomial interpolator to generate position, velocity and acceleration profiles with smooth and coordinated movements. CoppeliaSim Edu 4.5.1 and SolidWorks 2021 software were used to integrate kinematic modeling, trajectory generation and present the simulation of the tuna can packaging environment. As future work, dynamic modeling and dynamic control of both robots will be developed to simulate the automated tuna can packaging process in CoppeliaSim.

关键词： Trajectory planning Economic indicators Robot kinematics 3-DOF Kinematics Packaging 6-DOF Trajectory MATLAB Robots

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Self-Contained and Automatic Calibration of a Multi-Fingered Hand Using Only Pairwise Contact Measurements

Self-Contained and Automatic Calibration of a Multi-Fingered...

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IEEE-RAS International Conference on Humanoid Robots

作者： Johannes Tenhumberg Leon Sievers Berthold Bäuml DLR Institute of Robotics & Mechatronics Germany Deggendorf Institute of Technology Germany Technical University of Munich Germany

A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a multi-fingered robotic hand can be precisely calibrated only by moving the tips of the fingers pairwise into contact. The only prerequisite for this is sensitive contact detection, e.g., by torque-sensing in the joints (as in our DLR-Hand II) or tactile skin. The measurement function for a given joint configuration is the distance between the modeled fingertip geometries, but the actual measurement is always zero. In an in-depth analysis, we prove that this contact-based calibration determines all quantities needed for manipulating objects with the hand, i.e., the difference vectors of the fingertips, and that it is as sensitive as a calibration using an external visual tracking system and markers. We describe the complete calibration scheme, including the selection of optimal sample joint configurations and search motions for the contacts despite the initial kinematic uncertainties. In a real-world calibration experiment for the torque-controlled four-fingered DLR-Hand II, the maximal error of 17.7 mm can be reduced to only 3.7 mm. Web: https://***/2023-humanoids-contact/.

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A Novel Interleaving Method for High Power Integrated Electric Vehicle Charger with Three-Phase Permanent Magnet Synchronous Motor

A Novel Interleaving Method for High Power Integrated Electr...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Ryota Tanaka Toshihiro Kai Kenta Takishima Yoshiyuki Nagai Tetsuya Hayashi Kantaro Yoshimoto Research Division Nissan Motor Co. Ltd. Kanagawa Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

ISBN: (数字)9798331516116

ISBN: (纸本)9798331516123

The voltage of electric vehicle (EV) batteries has shifted from the conventional 400 V class to the 800 V class, necessitating boost converters to enable charging 800 V class batteries with 400 V class chargers. To reduce the additional costs associated with these boost converters, integrated chargers utilizing a traction motor and inverter have been proposed. Interleaving strategies that employ three-phase windings or only two out of the three phases have been suggested to effectively suppress battery charging current ripple. However, these strategies face challenges such as increased magnetic losses due to interleaving and higher root-mean-square current per phase when conduction is restricted to two phases. These challenges result in temperature rises in permanent magnet synchronous motors, thereby limiting both output and the duration of fast charging. This paper proposes a new interleaving method that uses threephase windings while suppressing magnetic losses for high-power charging with permanent magnet synchronous motors. The effectiveness of this method is confirmed through finite element analysis and experimental results.

关键词： Windings Rotors Voltage Permanent magnet motors Electric vehicles Inverters Batteries Fast charging Magnetic losses Magnets

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