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

作者： Joosun Lee Taeyhang Lim Wansoo Kim Department of Mechatronics Engineering Hanyang University Ansan Gyeonggi-do Republic of Korea Department of Interdisciplinary Robot Engineering Systems Hanyang University Ansan Gyeonggi-do Republic of Korea Robotics Department Hanyang University ERICA Ansan Gyeonggi-do Republic of Korea

This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control equipment has to be carried by hand. This lack of flexibility may prevent workers from multitasking or carrying objects while operating the robot. To address this limitation, we propose a hands-free method to operate the mobile robot with a human gaze in an Augmented Reality (AR) environment. The proposed work is demonstrated using the HoloLens 2 to control the mobile robot, Robotnik Summit-XL, through the eye-gaze in AR. Stable speed control and navigation of the mobile robot were achieved through admittance control which was calculated using the gaze position. The experiment was conducted to compare the usability between the joystick and the proposed operation, and the results were validated through surveys (i.e., SUS, SEQ). The survey results from the participants after the experiments showed that the wearer of the HoloLens accurately operated the mobile robot in a collaborative manner. The results for both the joystick and the HoloLens were marked as easy to use with above-average usability. This suggests that the HoloLens can be used as a replacement for the joystick to allow hands-free robot operation and has the potential to increase the efficiency of human-robot collaboration in situations when hands-free controls are needed.

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Adaptive Fuzzy Sliding Mode Control With Logarithmic Sliding Surface for Active Suspension Systems

Adaptive Fuzzy Sliding Mode Control With Logarithmic Sliding...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Andika Aji Wijaya Fitri Yakub Winda Astuti Mahmud Iwan Solihin S. Syafiie Department of Mechanical Engineering University of Business and Technology (UBT) Jeddah Saudi Arabia Department of Electronic Systems Engineering University of Technology Malaysia (UTM) Kuala Lumpur Malaysia Department of Computer Engineering BINUS ASO School of Engineering Automotive and Robotics Program Bina Nusantara University (BINUS) Jakarta Indonesia Department of Mechanical and Mechatronics Engineering UCSI University Kuala Lumpur Malaysia Department of Chemical and Materials Engineering Faculty of Engineering-Rabigh King Abdulaziz University Jeddah Saudi Arabia

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

This paper introduces a hybrid control strategy that integrates the unique features of natural logarithm sliding mode control (lnSMC) and fuzzy logic systems. The lnSMC control approach ensures that the vibration amplitude remains within a bound, as determined by the parameters of the lnSMC switching function. Furthermore, the fuzzy logic system is employed to approximate the nonlinearities and uncertainties inherent in the suspension system components, such as the spring and damper. The stability of the closed-loop system is analyzed using the Lyapunov stability theorem, guaranteeing convergence within a finite time. To validate the effectiveness of the proposed controller, a simulation study was carried out using a quarter-car suspension model, considering the system’s nonlinearities, parameter uncertainties, and various external disturbances. The results indicate that the proposed controller significantly improves ride comfort while maintaining suspension deflection and road holding within critical safety limits.

关键词： Fuzzy logic Vibrations Uncertain systems Uncertainty Roads Switches Stability analysis Vehicle dynamics Springs Sliding mode control

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Analysis of Lower Extremity Shape Characteristics in Various Walking Situations for the Development of Wearable Robot

Analysis of Lower Extremity Shape Characteristics in Various...

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

作者： Joohyun Park Ho Seon Choi Hyunki In Center for Healthcare Robotics Korea institute of science and technology Seoul Republic of Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daeieon Republic of Korea Department of Intelligent Mechatronics Engineering Sejong University Seoul Republic of Korea

A strap is a frequently utilized component for securing wearable robots to their users in order to facilitate force transmission between humans and the devices. For the appropriate function of the wearable robot, the pressure between the strap and the skin should be maintained appropriately. Due to muscle contraction, the cross-section area of the human limb changes according to the movement of the muscle. The cross-section area change causes the change in the pressure applied by the strap. Therefore, for a new strap design to resolve this, it is necessary to understand the shape change characteristics of the muscle where the strap is applied. In this paper, the change in the circumference of the thigh and the calf during walking was measured and analyzed by multiple string pot sensors. With a treadmill and string pot sensors using potentiometers, torsion springs, and leg circumference changes were measured for different walking speeds and slopes. And, gait cycles were divided according to a signal from the FSR sensor inserted in the right shoe. From the experimental results, there were changes in the circumference of about 8.5mm and 3mm for the thigh and the calf, respectively. And we found tendencies in various walking circumstances such as walking speed and degree of the slope. It is confirmed that they can be used for estimation algorithms of gait cycles or gait circumstances.

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Exploring Deep Object Content through In-hand Tactile Vibration Sensing with Shaking Manipulation

Exploring Deep Object Content through In-hand Tactile Vibrat...

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International Conference on Information and Communications Technology (ICOIACT)

作者： Muhammad Arifin Rian Putra Pratama Abdullah Iskandar Rezi Rafidan Alfizar Taufik Ibnu Salim Aris Munandar Ananta Adhi Wardana Research Center for Smart Mechatronics National Research and Innovation Agency Bandung Indonesia School of Computing Telkom University Bandung Indonesia Department of Physics Engineering Institut Teknologi Sepuluh Nopember Surabaya Indonesia Robotics and Artificial Intelligence Engineering Airlangga University Surabaya Indonesia

ISBN: (数字)9798331536206

ISBN: (纸本)9798331536213

Tactile sensing provides robots with insights beyond visual limitations, enabling the detection of surface characteristics and deformation properties like texture and slip. However, identifying internal content conditions remains a challenge. This study introduces a tactile-driven approach for classifying the internal content of various containers through vibration sensing and controlled shaking manipulation. By dynamically altering the mass distribution within the object, the system generates distinct changes in the center of mass (CoM), resulting in unique vibrational patterns. These patterns are captured and processed by a Convolutional Neural Network (CNN) to categorize the content state as depleted, partially loaded, or maximally loaded. Experimental results demonstrate a classification accuracy of 93 %, with clear clustering of content conditions, validating the effectiveness of this tactile-based approach across different fill levels. This tactile-based method significantly enhances robotic perception in tasks requiring internal content knowledge, such as sorting, recycling, and storage, offering a robust and scalable solution for real-world applications.

关键词： Vibrations Visualization Accuracy Fast Fourier transforms Containers Robot sensing systems Sensors Surface texture Convolutional neural networks Sorting

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Non-invasive Feedback for Prosthetic Arms: A Conceptual Design of a Wearable Haptic Armband

Non-invasive Feedback for Prosthetic Arms: A Conceptual Desi...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Sudhir Solomon Zhuwawu Ahmed B. Zaki Mahmoud El-Samanty Victor Parque Haitham El-Hussieny Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Department of Computer Science and Information Technology (CSIT) Egypt-Japan University of Science and Technology Alexandria Egypt Department of Modern Mechanical Engineering Waseda University Tokyo Japan

One of the main challenges users of prosthetic hands face is the lack of haptic feedback, which can make it difficult for them to accurately perceive the shape, texture, and other characteristics of objects they are touching, resulting in heavy reliance on visual feedback. This can limit the user’s ability to manipulate objects and interact with their environment effectively. In this research, we present a conceptual design of a mechanotactile haptic armband that has five fingers, each with two segments to provide different haptic profiles. The goal of this device is to provide haptic feedback to users of prosthetic hands, allowing them to experience a sense of touch and to more accurately perceive the shape, texture, and other characteristics of objects they are touching. To control the haptic armband, we have developed a control technique based on fuzzy logic, which maps the force sensed from a soft sensor to a force applied to the armband. Our results show that the haptic armband has the potential to improve the functionality and performance of prosthetic arms, enabling users to interact with their environment.

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CLOi-Mapper: Consistent, Lightweight, Robust, and Incremental Mapper With Embedded Systems for Commercial Robot Services

arXiv

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arXiv 2024年

作者： Noh, DongKi Lim, Hyungtae Eoh, Gyuho Choi, Duckyu Choi, Jeongsik Lim, Hyunjun Baek, SeungMin Myung, Hyun Daejeon34141 Korea Republic of The Advanced Robotics Lab. CTO Division LG Electronics Seoul06772 Korea Republic of Department of Mechatronics Engineering Tech University of Korea Gyeonggi-do Siheung-si15073 Korea Republic of

In commercial autonomous service robots with several form factors, simultaneous localization and mapping (SLAM) is an essential technology for providing proper services such as cleaning and guidance. Such robots require SLAM algorithms suitable for specific applications and environments. Hence, several SLAM frameworks have been proposed to address various requirements in the past decade. However, we have encountered challenges in implementing recent innovative frameworks when handling service robots with low-end processors and insufficient sensor data, such as low-resolution 2D LiDAR sensors. Specifically, regarding commercial robots, consistent performance in different hardware configurations and environments is more crucial than the performance dedicated to specific sensors or environments. Therefore, we propose a) a multi-stage approach for global pose estimation in embedded systems;b) a graph generation method with zero constraints for synchronized sensors;and c) a robust and memory-efficient method for long-term pose-graph optimization. As verified in in-home and large-scale indoor environments, the proposed method yields consistent global pose estimation for services in commercial fields. Furthermore, the proposed method exhibits potential commercial viability considering the consistent performance verified via mass production and long-term (> 5 years) operation. © 2024, CC BY.

关键词： Mapping

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Online Multi-Contact Feedback Model Predictive Control for Interactive Robotic Tasks

Online Multi-Contact Feedback Model Predictive Control for I...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seo Wook Han Maged Iskandar Jinoh Lee Min Jun Kim Intelligent Robotic Systems Laboratory Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Department of Mechanical Engineering KAIST Daejeon Republic of Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the MPC framework. An algorithm called Multi-Contact Particle Filter with Exploration Particle (MCP-EP) is employed to establish real-time feedback of multi-contact information. Then the interaction locations and forces are accommodated in the MPC framework via a spring contact model. Moreover, we achieved real-time control for a 7 degrees of freedom robot without any simplifying assumptions by employing a Differential-Dynamic-Programming algorithm. We achieved 6.8kHz, 1.9kHz, and 1.8kHz update rates of the MPC for 0, 1, and 2 contacts, respectively. This allows the robot to handle unexpected contacts in real time. Real-world experiments show the effectiveness of the proposed method in various scenarios.

关键词： Feedback loop Prediction algorithms Real-time systems Particle filters Task analysis Springs Robots

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Differential Flatness and Manipulation of Elasto-flexible Cables Carried by Aerial Robots in a Possibly Viscous Environment

Differential Flatness and Manipulation of Elasto-flexible Ca...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse Toulouse France

This work considers a system composed of two quadrotors manipulating a deformable and extensible cable. The dynamic model is presented, and it is based on a discrete representation of the cable, which is decomposed into lumped masses interconnected by linear springs through passive spherical joints. A set of flat outputs is found for the system. The flatness is exploited to design a method to manipulate the cable, which is then tested through numerical simulations.

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Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion

arXiv

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arXiv 2024年

作者： Gerges, Bishoy Bazzana, Barbara Botteghi, Nicolò Aboudorra, Youssef Franchi, Antonio Robotics and Mechatronics group Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede7500AE Netherlands Department of Applied Mathematics University of Twente Enschede7500AE Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial Vehicles). Opposite to classical VS methods, the proposed approach allows reaching the desired target view, even when the target is initially not visible. This is possible thanks to the learning of a latent representation that the DDPM uses for planning and a dataset of trajectories encompassing target-invisible initial views. A compact representation is learned from raw images using a Cross-Modal Variational Autoencoder. Given the current image, the DDPM generates trajectories in the latent space driving the robotic platform to the desired visual target. The approach has been validated in simulation using two generic multi-rotor UAVs (a quadrotor and a hexarotor). The results show that we can successfully reach the visual target, even if not visible in the initial view. A video summary with simulations can be found in: https://***/2Hb3nkkcszE. Copyright © 2024, The Authors. All rights reserved.

关键词： Visual servoing

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IMU-based Online Kinematic Model Parameter Estimation for Four-Wheeled Skid-Steering Mobile Robot Desired Motion Tracking on Different Terrains

IMU-based Online Kinematic Model Parameter Estimation for Fo...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Kai Li Le Bao Changsoo Han Kyoosik Shin Wansoo Kim Department of Mechatronics Engineering Hanyang University Ansan Gyeonggi-do Republic of Korea Robotics Department Hanyang University Ansan Gyeonggi-do Republic of Korea

This work presents an online adaptive tracking control for a 4-wheel skid-steering mobile robot (SSMR). The objective is to develop an online kinematic model parameter estimation for an equivalent differential drive kinematic model, enabling motion control on the various terrains’ conditions. Combined with an equivalent differential drive kinematic model, the angular velocity of robot motion analyzed by the inertial measurement unit (IMU) sensor is used as the observation quantity, and the steering efficiency parameters in the kinematic model are automatically adjusted by a proportional derivative (PD) controller to improve the desired motion tracking control performance for the robot in the face of different terrains. The execution of tracking control is achieved by the SSMR with torque-adjusted 4-wheel independent velocity control. The proposed strategy is validated experimentally, where the SSMR performs the desired motion tracking in 10 sets with four types of terrains with different levels of flatness. The results demonstrate the high potential in overground navigation settings, due to its fast adaptation and motionfollowing capacity.

关键词： Robot motion Parameter estimation Tracking Velocity control Kinematics Robot sensing systems Angular velocity

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