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A survey on the visual perception of humanoid robot

Biomimetic Intelligence & robotics 2025年第1期5卷 3-14页

作者： Teng Bin Hanming Yan Ning Wang Milutin N.Nikolić Jianming Yao Tianwei Zhang The Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen 518172China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbin 150001China College of Physics and Optoelectronic Engineering Shenzhen UniversityShenzhen 518060China College of Mechatronics Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China Faculty of Technical Sciences University of Novi SadNovi Sad 21102Serbia Electronic science and technology Guangdong University of TechnologyGuangzhou 510006China

In recent years,humanoid robots have gained significant attention due to their potential to revolutionize various industries,from healthcare to manufacturing.A key factor driving this transformation is the advancement of visual perception systems,which are crucial for making humanoid robots more intelligent and *** the progress,the full potential of vision-based technologies in humanoid robots has yet to be fully *** review aims to provide a comprehensive overview of recent advancements in visual perception applied to humanoid robots,specifically focusing on applications in state estimation and environmental *** summarizing key developments and analyzing the challenges and opportunities in these areas,this paper seeks to inspire future research that can unlock new capabilities for humanoid robots,enabling them to better navigate complex environments,perform intricate tasks,and interact seamlessly with humans.

关键词： advanced technologies visual perception autonomous navigation human robot interaction environmental interaction state estimation humanoid robots advancement visual perception systemswhich

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A Driving Direction Estimation Algorithm for Obstacle Avoidance of a Wheel-less Snake Robot

A Driving Direction Estimation Algorithm for Obstacle Avoida...

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International Conference on mechatronics Technology (ICMT)

作者： Seunghyun Lim Jinhyeok Song Dongwon Yun Department of Robotics and Mechatronics Engineering DGIST Daegu Republic of Korea

This paper describes a driving direction estimation algorithm of a wheel-less snake robot and verifies that the algorithm allows the robot to locomote as desired in ROS-based simulation. Snake robots have serious operational difficulties since their driving directions are not intuitive. Therefore, a driving direction should be estimated for autonomous locomotion, such as path tracking and obstacle avoidance. A driving direction estimation algorithm based on the kinematics of the snake robot is used with path planning and tracking algorithms. The suggested driving direction estimation algorithm allowed straightness improvement and path tracking in the simulation environment.

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RL-Based Control of UAS Subject to Significant Disturbance

RL-Based Control of UAS Subject to Significant Disturbance

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Kousheek Chakraborty Thijs Hof Ayham Alharbat Abeje Mersha Smart Mechatronics and Robotics research group Saxion University of Applied Science Enschede The Netherlands Robotics and Mechatronics research group Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This paper proposes a Reinforcement Learning (RL)-based control framework for position and attitude control of an Unmanned Aerial System (UAS) subjected to significant disturbance that can be associated with an uncertain trigger signal. The proposed method learns the relationship between the trigger signal and disturbance force, enabling the system to anticipate and counteract the impending disturbances before they occur. We train and evaluate three policies: a baseline policy trained without exposure to the disturbance, a reactive policy trained with the disturbance but without the trigger signal, and a predictive policy that incorporates the trigger signal as an observation and is exposed to the disturbance during training. Our simulation results show that the predictive policy outperforms the other policies by minimizing position deviations through a proactive correction maneuver. This work highlights the potential of integrating predictive cues into RL frameworks to improve UAS performance.

关键词： Training Attitude control Simulation Force Reinforcement learning Autonomous aerial vehicles Stability analysis Maintenance Dynamical systems Logistics

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The Manipulation of Four-Wave Mixing in a Fully Tunable MEMS Photonic Molecule

The Manipulation of Four-Wave Mixing in a Fully Tunable MEMS...

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Frontiers in Optics + Laser Science 2023, FiO, LS 203: Part of Frontiers in Optics + Laser Science 2023

作者： Lim, Min G. Choi, Dong J. Kim, Dong U. Park, Young J. Yu, Kyoungsik Han, Sangyoon Jeong, Kwang-Yong Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu42988 Korea Republic of Daejeon34141 Korea Republic of Jeju63243 Korea Republic of

We demonstrated the manipulation of four-wave mixing (FWM) in a fully tunable photonic molecule implemented on low-power silicon photonic MEMS. A seeded FWM with a conversion efficiency of −56dB at 7.3dBm pump power w... 详细信息

ISBN: (纸本)9781957171296

关键词： Four wave mixing Frequency combs Microelectromechanical systems Silicon Waveguide modes Wavelength conversion

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Unleashing the potential of morphotropic phase boundary based hybrid triboelectric–piezoelectric nanogenerator

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Journal of Materiomics 2024年第4期10卷 792-802页

作者： Sugato Hajra Aneeta Manjari Padhan Basanta Kumar Panigrahi Phakkhananan Pakawanit Zvonko Jagličić Naratip Vittayakorn Yogendra Kumar Mishra Sanghoon Lee Hoe Joon Kim Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and TechnologyDaegu42988Republic of Korea Department of Electrical Engineering Siksha O Anusandhan UniversityBhubaneswar751030India Synchrotron Research and Applications Division Synchrotron Light Research InstituteNakhon Ratchasima30000Thailand Institute of Mathematics Physics and Mechanics&Faculty of Civil and Geodetic EngineeringUniversity of LjubljanaJadranska191000LjubljanaSlovenia Advanced Materials Research Unit Department of ChemistrySchool of ScienceKing Mongkut's Institute of Technology LadkrabangBangkok10520Thailand Mads Clausen Institute NanoSYDUniversity of Southern DenmarkAlsion 26400SønderborgDenmark Robotics and Mechatronics Research Center Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu42988Republic of Korea

Morphotropic phase boundary(MPB)-based ceramics are excellent for energy harvesting due to their enhanced physical properties at phase boundaries,broad operating temperature range,and ability to customize properties for efficient conversion of mechanical energy into electrical *** this work,Bi_(1–x)Na_(x)Fe_(1–x)Nb_(x)O_(3)(x=0.20,0.30,0.32 and 0.40,BNFNO abbreviation)based ceramics were synthesized using a solid-state route and blended with Polydimethylsiloxane(PDMS)to achieve flexible *** material characterization and energy harvesting were performed by designing a hybrid piezoelectric(PENG)-triboelectric(TENG)*** voltage and current of PENG,TENG,and hybrid bearing same device area(2 cm×2 cm)were recorded as 11 V/0.3μA;60 V/0.7μA;110 V/2.2μ*** strategies for enhancing the output performance of the hybrid device were evaluated,such as increased surface area(creating micro-roughness and porous morphology)and increasing electrode size and multi-layer hybrid device *** self-powered acceleration monitoring was demonstrated using the hybrid ***,the low-frequency-based wave energy is converted into electrical energy,confirming the usage of hybrid PENG-TENG devices as a base for battery-free sensors and blue energy harvesting.

关键词： Lead-free Acceleration Wave energy Morphotropic

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Planar Trajectory Simulation for Lunar CanSats using a Wheeled Ground Robot

Planar Trajectory Simulation for Lunar CanSats using a Wheel...

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Intelligent Computing and robotics (ICICR), International Conference on

作者： Carrington Chun Tom Swift Mason Cox S M Tanvir Faysal Alam Chowdoury M. Hassan Tanveer David A. Guerra-Zubiaga Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta United States of America

ISBN: (数字)9798350372274

ISBN: (纸本)9798350372281

This research effort attempted to employ a low cost Kobuki mobile ground robot to generate low-fidelity planar simulations of potential trajectories for CanSats operating in lunar environments. Although this mobile robot was determined to lack the capability to simulate lunar accelerations, initial tests showed that simple planar trajectories could still be successfully programmed for the motion platform. By attaching the prototype CanSats to the top of the Autonomous Ground Vehicle (AGV), the CanSat could be driven along these preprogramed trajectories. Such motion profiles provided an adequate means for initial testing of prototype optical hardware for a lunar oriented CanSat lander. Notably, significant inconsistencies were observed in the internally computed heading for the AGV. In addition to the inaccurate localization, the lack of a closed loop control system further minimized the applicability of this study. However, due to the ubiquitousness of wheeled robotic ground vehicles and the ready availability of these devices from commercial sellers at an affordable cost, there are many possible avenues for future expansion of this work. Most significantly, as systems capable of simulating microgravity environments are often very costly and require special training to operate effectively, the proposed low-cost and low-fidelity approach could provide an interim testing solution for less technologically mature space-oriented research, such as CanSats.

关键词： Adaptation models Costs Robot kinematics Moon Prototypes Kinematics Land vehicles

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A Gaze-Speech System in Mixed Reality for Human-Robot Interaction

A Gaze-Speech System in Mixed Reality for Human-Robot Intera...

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IEEE International Conference on robotics and Automation (ICRA)

作者： John David Prieto Prada Myung Ho Lee Cheol Song Department of Robotics and Mechatronics Engineering DGIST Daegu South Korea

Human-robot interaction (HRI) demands efficient time performance along the tasks. However, some interaction approaches may extend the time to complete such tasks. Thus, the time performance in HRI must be enhanced. This work presents an effective way to enhance the time performance in HRI tasks with a mixed reality (MR) method based on a gaze-speech system. In this paper, we design an MR world for pick-and-place tasks. The hardware system includes an MR headset, the Baxter robot, a table, and six cubes. In addition, the holographic MR scenario offers two modes of interaction: gesture mode (GM) and gaze-speech mode (GSM). The input actions during the GM and GSM methods are based on the pinch gesture and gaze with speech commands, respectively. The proposed GSM approach can improve the time performance in pick-and-place scenarios. The GSM system is 21.33 % faster than the traditional system, GM. Also, we evaluated the target- to-target time performance against a reference based on Fitts' law. Our findings show a promising method for time reduction in HRI tasks through MR environments.

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Artificial Neural Networks for the Forward Kinematics of a SCARA Manipulator: A Comparative Study with Two Datasets

Artificial Neural Networks for the Forward Kinematics of a S...

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2024 ASU International Conference in Emerging Technologies for Sustainability and Intelligent Systems, ICETSIS 2024

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassène Tunis Borj Cedria1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India Le Belvédère Tunis1002 Tunisia

ISBN: (纸本)9798350372229

In the field of robotics and automation, the precise determination of manipulator positions is a fundamental aspect with widespread applications. Despite the significance of analytical methods, solving the Forward Kinematics (FK) for Selective Compliance Assembly Robot Arm (SCARA) manipulator robots can be complex and computationally intensive. Our research introduces a method to address the FK problem for the four degrees of freedom (4-DoF) SCARA manipulator through Artificial Neural Networks (ANNs). We utilize two different generated datasets, one with a fixed step size and another one based on a sinusoidal signal, for training the ANNs. This choice of datasets allows us to assess the ANN s' generalization capabilities across a range of operating conditions. Thereafter, the study is planned to investigate the ANN's performance while employing three distinct training algorithms: Levenberg-Marquardt (LM), Bayesian Regularization (BR), and Scaled Conjugate Gradient (SCG). Through a comprehensive comparison of the performance of different ANN models, different training algorithms, and the two adopted generated datasets, this study provides valuable insights into selecting the most optimal training configurations for the SCARA robot's FK solutions. We employ the Mean Squared Error (MSE) and the error histogram as two performance metrics to assess the accuracy of various ANNs. The results reveal that optimal MSE outcomes were obtained when utilizing a balanced architecture with three hidden layers in the analysis of the sinusoidal-signal-based datasets. © 2024 IEEE.

关键词： Artificial Neural Network Fixed-step- and sinusoidal-signal-based datasets Forward kinematics SCARA manipulator robot Training optimizers

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Advanced Biomedical Laboratory (ABL) Synergy With Communication, robotics, and IoT

Advanced Biomedical Laboratory (ABL) Synergy With Communicat...

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IEEE Southeastcon

作者： Razvan Cristian Voicu Steven Steele Jorge Diaz Rodriguez Yusun Chang Chan Ham Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia

Commercialization, development, and implementation of the Internet of Things (IoT) devices are accelerating. Developing low-cost, wireless, and wired devices that can communicate and sense has drastically improved all areas, including medical, manufacturing, transportation, home & office, military, and commercial. IoT notions provide numerous benefits, including enhancing logistics, monitoring, and autonomous actuation control. Thus, opening the door for more timely medical assistance in medical practices and preparation in chemical, biological, and biomedical laboratories. This paper introduces a strategy to develop an automated biomedical laboratory using IoT concepts and devices. The article presents distributed automation for individual components and a centralized directive for the autonomous assembly of various designs.

关键词： Wireless communication Wireless sensor networks Automation Educational robots Laboratories Transportation Safety

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FFT-UAVNet: FFT Based Human Action Recognition for Drone Surveillance System

FFT-UAVNet: FFT Based Human Action Recognition for Drone Sur...

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Sustainable Technologies for Industry 4.0 (STI), International Conference on

作者： Abdul Monaf Chowdhury Ahsan Imran Md Mehedi Hasan Dept. of Robotics and Mechatronics Engineering University of Dhaka Bangladesh

Unmanned aerial vehicles (UAVs) have emerged as a transformative technology for human action recognition, providing a birds-eye view and unlocking new possibilities for precise and comprehensive support in surveillance systems. While substantial advances in ground-based human action recognition have been achieved, the unique characteristics of UAV footage present new challenges that require tailored solutions. Specifically, the reduced scale of humans in aerial perspectives necessitates the development of specialised models to accurately recognize and interpret human actions. Our research focuses on modifying the well-established C3D model and incorporating Fast Fourier Transform (FFT)-based object disentanglement (FO) and space-time attention (FA) mechanisms. By leveraging the power of FFT, our model effectively disentangles the human actors from the background and captures the spatio-temporal dynamics of human actions in UAV footage, enhancing the discriminative capabilities and enabling accurate action recognition. Through extensive experimentation on a subset of the UAV-Human dataset, our proposed FFT-UAVNet (m-C3D+FO&FA+FC) model demonstrates remarkable improvements in performance. We achieve a Top-1 accuracy of 64.86% and a Top-3 accuracy of 83.37%, surpassing the results obtained by the standard C3D and X3D methods, which achieve only a Top-1 accuracy of 28.05% and 31.33%, respectively. These findings underscore the efficacy of our approach and emphasize the significance of the proposed model for UAV datasets in maximizing the potential of UAV-based human action recognition.

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