检索结果-内蒙古大学图书馆

An Improved Dual Quaternion-based Dynamic Movement Primitives Formulation for Obstacle Avoidance Kinematics in Human- Robot Collaboration System of Systems

An Improved Dual Quaternion-based Dynamic Movement Primitive...

引用

IEEE International Conference on System of Systems engineering (SoSE)

作者： Freddy Liendo Alessandro Bozzi Camilo Hernández Christine Galez Roberto Sacile José Jiménez Laboratory System And Materials For Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy

In the context of Human-Robot Collaboration (HRC) as System of Systems (SoS), motion planning and learning are a highly important subsystem. Dynamic Movement Primitives (DMP) are an elegant and efficient method for learning complex behaviours and representing them as stable, well understood dynamical systems. When applied for encoding a task by considering the behaviour of the end-effector of a robotic manipulator in Cartesian space, the common solution is to represent and to encode the pose separately as position and orientation using different but phase-coupled DMP formulations; resulting mathematically and algorithmically inefficient. Dual Quaternions are a mathematical tool capable of representing pose in a unified variable. Literature shows the interest of such a representation for rigid body kinematics, given its mathematical flexibility, efficiency and robustness. This article presents an existing formulation for Dual Quaternion Dynamic Movement Primitives based on screw theory. Then, we expand on our proposed improved formulation which considers obstacle avoidance as a contribution for the layer of Awareness and Intelligence in the context of Human-Robot Collaboration as a System of Systems.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots

A Multipurpose Interface for Close- and Far-Proximity Contro...

引用

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Hamidreza Raei Juan M. Gandarias Elena De Momi Pietro Balatti Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy Systems Engineering and Automation Department Robotics and Mechatronics lab University of Malaga Malaga Spain

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attached) and teleoperation (detached). These modes are integrated with a robot whole-body controller and presented in a unified close- and far-proximity control framework for MCR. The earlier introduction of the haptic component in this interface enabled users to execute intricate loco-manipulation tasks via admittance-type control, effectively decoupling task dynamics and enhancing human capabilities. In contrast, this ongoing work proposes a novel design that inte-grates a visual component. This design utilizes Visual-Inertial Odometry (VIO) for teleoperation, estimating the interface's pose through stereo cameras and an Inertial Measurement Unit (IMU). The estimated pose serves as the reference for the robot's end-effector in teleoperation mode. Hence, the interface offers complete flexibility and adaptability, enabling any user to operate an MCR seamlessly without needing expert knowledge. In this letter, we primarily focus on the new visual feature of this interface, and first present a performance evaluation of different VIO-based methods for teleoperation. Next, the interface's usability is analyzed in a home-care application and compared to an alternative designed by a commercial MoCap system. Results show comparable performance in terms of accuracy, completion time, and usability. Nevertheless, the proposed interface is low-cost, poses minimal wearability constraints, and can be used anywhere and anytime without needing external devices or additional equipment, offering a versatile and accessible solution for teleoperation.

关键词： Performance evaluation Wireless communication Visualization Wireless sensor networks Accuracy Robot vision systems Collaborative robots Sensors Usability Robots

来源：评论

学校读者我要写书评

暂无评论

Reliability Evaluation of Emergent Behaviour in a Flexible Manufacturing Problem

Reliability Evaluation of Emergent Behaviour in a Flexible M...

引用

IEEE International Conference on System of Systems engineering (SoSE)

作者： Alessandro Bozzi Simone Graffione José Jiménez Roberto Sacile Enrico Zero Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy Laboratory System And Materials For Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France

Scheduling is a key component of manufacturing systems. In general, it describes how multiple jobs or workloads are processed within a limited set of resources to achieve certain manufacturing objectives, such as minimizing the makespan or weighted tardiness. Nevertheless, as the demand for customized and versatile products increased, these systems became more flexible by incorporating flexible manufacturing processes. As a result, it is possible to vary either the machine operations or the product route within highly automated and connected material handling systems. Therefore, the scheduling process is more complex as it involves solving the routing problem within different alternatives and sharing redundant resources between multiple production processes, thereby increasing workload and bottlenecks within the system. Thus, it is imperative to address the scheduling problem while taking into account the physical constraints caused by shared machines and product routing. This paper proposes a Mixed Integer Linear Programming algorithm to solve the flow-shop scheduling problem and minimize the makespan while balancing the machine usage to limit emergent behaviours due to over-utilization. The robustness of the approach is then verified in the case of delays which alter the processing time on machines. Experiments on a limited instance of a flexible manufacturing system confirm the effectiveness of the solution, with a small increase in completion time even for high-magnitude delays.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Development of a Multi-Axial Force Sensor for Small Satellite Docking

Development of a Multi-Axial Force Sensor for Small Satellit...

引用

IEEE Metrology for Aerospace

作者： Matteo Veronese Alex Caon Riccardo Giubilato Francesco Branz Alessandro Francesconi Centre of Studies and Activities for Space “G. Colombo” University of Padova Padova Italy German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany Department of Industrial Engineering University of Padova Padova Italy

ISBN: (数字)9798350385045

ISBN: (纸本)9798350385052

In light of a growing interest in the on-orbit servicing of small satellites, docking systems are becoming increasingly important. Particularly for low-mass satellites, the knowledge of the loads exchanged during docking is critical not only for the docking interfaces but also for the attitude control systems. Hence, the addition of load measurement capabilities to the ground testing facilities becomes valuable. For this reason, a multi-axial force sensor (MAFS) tailored for the characterization of small satellite docking systems has been developed. The MAFS employs four single-point load cells enabling load measurements along two orthogonal axes. Eventually, the MAFS was integrated into a laboratory facility and utilized in docking tests. Positioned at the periphery of a low-friction table, the mockup of a satellite, equipped with a probe, freely moves over the table supported by three gas cushions. The docking event occurs as the probe impacts the drogue, which is mounted on the MAFS. The acquisition of docking loads exchanged between the probe-drogue surfaces is enabled by the MAFS. The frequency response of an impulsive load has been used to determine the first natural frequency of the MAFS. The resulting frequency was then compared with the results of a numerical normal mode analysis to evaluate further improvements to the structure. The accuracy of the dynamic measurements has been estimated employing the impulse-momentum theorem. The impulse was derived from the MAFS force measurements, while the momen-tm was derived from the positional data provided by a motion capture system. The overall relative error was 3.1%.

关键词： Force measurement Torque Small satellites Prototypes Aerodynamics Particle measurements Software

来源：评论

学校读者我要写书评

暂无评论

Simulation Study of Control Techniques Used for 9- Phase Voltage Source Inverter

Simulation Study of Control Techniques Used for 9- Phase Vol...

引用

2021 International Conference on System, Computation, Automation and Networking, ICSCAN 2021

作者： Renuka Devi, G. Karthik, C. Malaiyappan, Prakash Avanthikha, A. Manakula Vinayagar Institute of Technology Department of Robotics and Automation Puducherry India Jyothi Engineering College Department of Mechatronics Kerala India New Prince Shri Bhavani College of Engineering and Technology Department of Mechanical Engineering Chennai India SSN College of Engineering Department of Biomedical Engineering Chennai India

ISBN: (纸本)9781665439862

This paper presents the control techniques used for 9-Phase Voltage Source Inverter. For high power application the 9-phase inverter fed 9-phase drives dominantly used. In the proposed work a comprehensive relationship between the 9-phase SPWM, 9th harmonic injection technique and 9-phase modified SVPWM technique are presented. The simulation study of the 9-phase voltage source inverter is investigated with the above said switching methods with varying modulation indices. The MATLAB /Simulink results are addressed for varying modulation indices and analysis the results in terms of output phase voltage and total harmonic distortion. From the results find the optimum method is appropriate for 9-phase VSI. © 2021 IEEE.

关键词： Electric inverters

来源：评论

学校读者我要写书评

暂无评论

Robotic Learning of Haptic Skills from Expert Demonstration for Contact-Rich Manufacturing Tasks

Robotic Learning of Haptic Skills from Expert Demonstration ...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Sara Hamdan Yusuf Aydin Erhan Oztop Cagatay Basdogan Robotics and Mechatronics Laboratory and the KUIS-AI Center Koc University Istanbul Turkey Department of Electrical and Electronics Engineering MEF University Istanbul Turkey Department of Computer Science Ozyegin University Istanbul Turkey SISReC/OTRI Osaka University Japan

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

We propose a learning from demonstration (LfD) approach that utilizes an interaction (admittance) controller and two force sensors for the robot to learn the force applied by an expert from demonstrations in contact-rich tasks such as robotic polishing. Our goal is to equip the robot with the haptic expertise of an expert by using a machine learning (ML) approach while providing the flexibility for the user to intervene in the task at any point when necessary by using an interaction controller. The utilization of two force sensors, a pivotal concept in this study, allows us to gather environmental data crucial for effectively training our system to accommodate workpieces with diverse material and surface properties and maintain the contact of polisher with their surfaces. In the demonstration phase of our approach where an expert guiding the robot to perform a polishing task, we record the force applied by the human (F h ) and the interaction force (F int ) via two separate force sensors for the polishing trajectory followed by the expert to extract information about the environment (F env =F h −F int ). An admittance controller, which takes the interaction force as the input is used to output a reference velocity to be tracked by the internal motion controller (PID) of the robot to regulate the interactions between the polisher and the surface of a workpiece. A multilayer perceptron (MLP) model was trained to learn the human force profile based on the inputs of Cartesian position and velocity of the polisher, environmental force (F env ), and friction coefficient between the polisher and the surface to the model. During the deployment phase, in which the robot executes the task autonomously, the human force estimated by our system $\left({{{\hat F}_h}}\right)$ is utilized to balance the reaction forces coming from the environment and calculate the force $\left({{{\hat F}_h} - {F_{env}}}\right)$ needs to be inputted to the admittance controller to gene

关键词： Surface cleaning Force Robot sensing systems Real-time systems Haptic interfaces Trajectory Manufacturing Force sensors Admittance Robots

来源：评论

学校读者我要写书评

暂无评论

Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments

Care3D: An Active 3D Object Detection Dataset of Real Roboti...

引用

IEEE International Symposium on Multimedia

作者： Michael G. Adam Sebastian Eger Martin Piccolrovazzi Maged Iskandar Joern Vogel Alexander Dietrich Seongjien Bien Jon Skerlj Abdeldjallil Naceri Eckehard Steinbach Alin Albu-Schaeffer Sami Haddadin Wolfram Burgard Department of Computer Engineering School of Computation Information and Technology Chair of Media Technology Technical University of Munich Munich Germany Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Department of Computer Engineering School of Computation Information and Technology Technical University of Munich Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence (MIRMI) Munich Germany Engineering Department University of Technology Nuremberg Nuremberg Germany

As labor shortage increases in the health sector, the demand for assistive robotics grows. However, the needed test data to develop those robots is scarce, especially for the application of active 3D object detection, where no real data exists at all. This short paper counters this by introducing such an annotated dataset of real environments. The captured environments represent areas which are already in use in the field of robotic health care research. We further provide ground truth data within one room, for assessing SLAM algorithms running directly on a health care robot.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design and Analysis of a Novel 3-DOF Out-of-plane Micropositioning Mechanism

Design and Analysis of a Novel 3-DOF Out-of-plane Microposit...

引用

International Conference on mechatronics Technology (ICMT)

作者： Kai Zhong Lai Kim Sang Tran Bijan Shirinzadeh Armin Ehrampoosh Yanling Tian Yanding Qin Department of Mechanical and Aerospace Engineering Robotics and Mechatronics Research Laboratory (RMRL) Monash University Melbourne Australia School of Engineering University of Warwick Coventry UK College of Artificial Intelligence Nankai University Tianjin China

This paper proposes a novel 3-DOF high-precision monolithic micropositioning mechanism. The goal of this study is to develop an out-of-plane parallel kinematic manipulator with low parasitic motion and a large workspace. The mechanism consists of three driving arms, and each driving arm features two snowflake hinges, each boasting with two degrees of freedom. The driving arms are driven by piezoelectric actuators (PEAs) coupled with double symmetric five-bar displacement amplification mechanisms. The displacement amplifier perpendicularly transforms the translational motion of the PEA; therefore, the design offers a small footprint. An investigation was conducted through finite element analysis (FEA) to study the proposed mechanism's performance and develop the inverse kinematic model. The mechanism offers a large workspace of $\pm 4.610\text{mrad} \times \pm 4.004\text{mrad}\times\pm 179.3\mu \mathrm{m}$ .

关键词：

来源：评论

学校读者我要写书评

暂无评论

Bipedal Running: Bioinspired Fundamentals for versatile Humanoid Robot Locomotion

Bipedal Running: Bioinspired Fundamentals for versatile Huma...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Konrad Fründ Fabian Beck Anton Shu Florian Loeffl Jinoh Lee Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Yuseong-gu Daejeon Republic of Korea

The field of humanoid robots has grown in recent years with several companies and research laboratories developing new humanoid systems. However, the number of running robots did not noticeably rise. Despite the need for fast locomotion to quickly serve given tasks, which require traversing complex terrain by running and jumping over obstacles. To provide an overview of the design of humanoid robots with bioinspired mechanisms, this paper introduces the fundamental functions of the human running gait. The paper surveys multiple concepts, i.e. to protect the system against impacts, store kinetic energy at touchdown, use natural dynamics, and transfer energy between joints through couplings. The understanding of the fundamental functions can support engineers to design versatile humanoid robots, without sacrificing versatility against capability.

关键词：

来源：评论

学校读者我要写书评

暂无评论

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

arXiv

引用

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

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：