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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Wenshuo Liang, Bin Lin, Boyang Li, Junxiang Xu, Wenfu Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics China Tsinghua University Department of Automation Beijing100854 China

ISBN: (纸本)9798350325706

Cable-driven serial manipulator (CDSM) has slender body and high dexterity. Hence it has large potentials in confined space application. However, in terms of complicated motion, achieving overall shape planning and control for the manipulator as a whole has been rarely accomplished, greatly limiting the utilization of redundant degrees of freedom. Therefore, this paper proposes a pose-shape unified planning method based on multiple arm-angle construction and optimization. Firstly, we derive the multi-space mapping relationships, in particularly introducing the concept of arm shape for joint space and deriving the corresponding analytical expressions. Subsequently, we derive the Jacobian matrix of Multiple arm-angel, which theoretically guarantees the efficiency of planning and the ability to achieve acceptable goals in a globally feasible and stable manner. Simulations demonstrate that our framework enables rapid and efficient arm-angles planning while ensuring high pose accuracy. Finally, experiments are conducted using the CDSM to verify the arm's motion capabilities, including pose adjustment and maintaining arm shape during movement. Compared to other planning and closed-loop control methods, the results confirm the consistency and reliability of the arm shape and end-effector pose. © 2023 IEEE.

关键词： Arm-Shape Cable-driven Serial Manipulator Kinematics Morphology

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Quantitative Analysis of Frictional Forces and their Impact on Drilling Efficiency in Aluminum Alloy Machining

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Journal of The Institution of Engineers (India): Series C 2024年第6期105卷 1591-1601页

作者： Patil, Adarsh Hebasur, Varun Iranna Mahale, Rayappa Tambrallimath, Vijay Divya, G.S. Nagraj, Banakara Kattimani, Prasanna C. School of Mechanical Engineering KLE Technological University Hubli580031 India Department of Automation and Robotics JSPMs Rajashri Shahu College of Engineering Pune India Department of Automobile Engineering Dayananda Sagar College of Engineering Bangalore560111 India Department of Mechanical Engineering Ballari Institute of Technology and Management Ballari India Department of Mechanical Engineering Dr. D. Y. Patil Institute of Technology Pimpri Pune411018 India

This study examines the intricate dynamics of friction and emphasizes how crucial it is to global energy use. Inspired by a 1493 discovery of Leonardo da Vinci, the study establishes the independence of friction force from contact area and highlights the significance of the friction coefficient as a load-related metric. The mechanical and chemical characteristics of aluminum alloys are discussed in this article along with an assessment of how well high-speed steel (HSS) drill bits work in drilling operations. Samples of aluminum are thoroughly analyzed for characteristics like yield stress, ultimate tensile strength, and elongation. The results show that aluminum makes up the majority of the sample, with trace elements like silicon and magnesium. At the same time, characteristics including Young’s modulus, thermal conductivity, and specific heat capacity are investigated for HSS drill bits, which are renowned for their durability and thermal resistance. To quantify thrust force and torque, experimental methods use a drill dynamometer built into a vertical drilling machine. Drill bits with different diameters (6 mm, 8 mm, and 12 mm) are evaluated at controlled feed rates and speeds. Accurate cutting force recording is ensured by real-time sensor data. The application of Finite Element Analysis (FEA) provides insights into how to optimize drilling processes for increased productivity and tool longevity by examining the stress distribution and deformation in drill bits under various operating situations. © The Institution of Engineers (India) 2024.

关键词： Trace elements

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Bat Feet-Inspired Gripper: Design and Kinematic Analysis of a Metamorphic Docking Mechanism

Bat Feet-Inspired Gripper: Design and Kinematic Analysis of ...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Jiabao Li Xueying Jin Guiyu Dong Kun Xu Yaobin Tian Xilun Ding Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

This paper presents a reconfigurable docking mechanism inspired by the tendon-locking mechanism of bat claws. Designed for the rapid assembly and disassembly of robots, the mechanism aims to overcome challenging terrains for ground robots, enhancing their mobility. Utilizing parallel elastic structures, the mechanism replicates the biomechanics involved in the opening and closing of a claw. Locking and unlocking are achieved through a variable-topology ratchet and groove system. We delve into the biomimetic principles of bat hanging-locking and present a comprehensive discussion on the intricate design of the docking mechanism, supported by simulation and experimental results. Successful experiments validate that the docking mechanism fulfills design requirements, effectively rectifying docking errors and offering an efficient solution for mobile robots' rapid assembly and disassembly.

关键词： Biomechanics Biomimetics Kinematics Mobile robots Grippers Assembly

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Leveraging large language models for comprehensive locomotion control in humanoid robots design

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Biomimetic Intelligence & robotics 2024年第4期4卷 48-63页

作者： Shilong Sun Chiyao Li Zida Zhao Haodong Huang Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Inteligent Morphing Mechanisms and Adaptive Robotics Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen 518055China

This paper investigates the utilization of large language models(LLMs)for the comprehensive control of humanoid robot *** reinforcement learning(RL)approaches for robot locomotion are resource-intensive and rely heavily on manually designed reward *** address these challenges,we propose a method that employs LLMs as the primary designer to handle key aspects of locomotion control,such as trajectory planning,inverse kinematics solving,and reward function *** using user-provided prompts,LLMs generate and optimize code,reducing the need for manual *** approach was validated through simulations in Unity,demonstrating that LLMs can achieve human-level performance in humanoid robot *** results indicate that LLMs can simplify and enhance the development of advanced locomotion control systems for humanoid robots.

关键词： Humanoid robots Large language models Locomotion control Reinforcement learning

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CTSTC: An Energy-Efficient Coverage Path Planning Algorithm for Unmanned Surface Vehicles

CTSTC: An Energy-Efficient Coverage Path Planning Algorithm ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Xiaowei Huang, Junhan Xie, Yangmin Qu, Dong Zhong, Yuxuan Shanghai University School of Mechatronic Engineering and Automation Shanghai200444 China Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200444 China

ISBN: (纸本)9798350325706

Marine environment investigation and patrol operations typically encompass a range of tasks involving Unmanned Surface Vehicles (USVs) and Coverage Path Planning (CPP). The assessment of CPP performance generally revolves around three key metrics: coverage time, extent of overlapping areas, and coverage rate. However, the consideration of energy consumption metrics is often overlooked. Especially for prolonged patrol missions or extensive coverage activities in larger regions, the minimization of energy consumption plays a pivotal role in enhancing the operational endurance of the USV while sustaining its hardware efficiency. We introduce a methodology aimed at minimizing the energy consumption associated with coverage tasks performed by USVs. Our approach draws on the principles of the Scanning Tree Coverage (STC) and the Dynamic Minimum Spanning Tree (DMST) algorithms. Adapting the STC model to the distinctive marine environment, we quantify the energy consumption resulting from ocean currents and the turns of the USV as path length. We present a method for creating a set of longest edges as a crucial part of the spanning tree, which involves dividing the map into multiple elongated regions. This approach serves to simplify the complexity of the problem. Subsequently, we employ the partial DMST algorithm to further generate tree branches. This dynamic approach aims to interconnect the longest edges based on the quantified energy consumption, ultimately striving to minimize energy consumption during coverage. By employing the method, we achieve a dual advantage: a reduction in the number of required turns, coupled with a comprehensive consideration of the influence of ocean currents. This combination empowers the USV to efficiently accomplish its tasks while consuming less energy. © 2023 IEEE.

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Entropy-Guided Reinforced Open World Active 3D Object Detection Learning

Entropy-Guided Reinforced Open World Active 3D Object Detect...

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2024 China automation Congress, CAC 2024

作者： Zhang, Haozhe Ma, Liyan Ying, Shihui Institute of Artificial Intelligence Shanghai University Shanghai200444 China School of Computer Engineering and Science School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200444 China Department of Mathematics School of Science Shanghai University Shanghai200444 China

ISBN: (纸本)9798350368604

Traditional fully annotated closed set 3D object detection methods improve model performance but are impractical in real-world settings due to the emergence of new categories and the complexity of 3D annotations. Open-World Object Detection (OWOD) addresses these issues but relies heavily on manual labeling, which is costly. This paper focuses on open world active learning and proposes an entropy-guided reinforced open world active 3D object detection (EROA). EROA regards active learning as a reinforcement learning problem tailored for open driving scenarios. We use entropy as a reward metric for efficient reinforcement learning. We also leverage knowledge from the 2D domain using object-level large-scale vision-language models to enhance sample selection. Extensive experiments evidence that the proposed EROA meets the dynamic and cost-sensitive requirements of autonomous driving, enabling real-time detection of both known and unknown objects. © 2024 IEEE.

关键词： Active learning

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Path-planning for the Human-arm-like Collaborative Robot with the Capability of Infinite Rotation

Path-planning for the Human-arm-like Collaborative Robot wit...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yang, Yusheng Liu, Jiajia Yang, Qiaoni Shi, Hang Xie, Yangmin Shanghai University School of Mechatronic Engineering and Automation Shanghai200444 China Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200444 China

ISBN: (纸本)9798350325706

With the advantages of high safety and scalability, collaborative robots are widely used in the fields of Human-Robot Collaboration and Interaction. However, the joint limits of the robot restrict its flexibility and workspace, especially in a cluttered environment. Inspired by the motion of the human arm, whose elbow joint and shoulder joint can rotate infinitely, a collaborative robot with the capability of infinite rotation of its first and fourth joints is constructed in this paper and named the IR-Robot. With the breakthrough of the joint limit, the corresponding dimension in the robot's configuration space changes from a bounded dimension to an unbounded dimension. The high-dimensional torus configuration space (HTCS) is presented to describe the bounded-unbounded dimensions hybrid property of the IR-Robot's configuration space. Additionally, an IR-RRT∗ algorithm is proposed to conduct path-planning in HTCS. The experimental results in simulation and the real world demonstrate the feasibility and superiority of the IR-Robot in path-following and path-planning tasks. © 2023 IEEE.

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Electromagnetic-thermal Coupled Analyses and Joint Optimisation of Electrically-excited Flux-switching Linear Machines

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CES Transactions on Electrical Machines and Systems 2022年第4期6卷 368-377页

作者： Hui Wen Yufei Wang Yuting Zheng Wen Zeng Xiao Qu Jiongjiong Cai IEEE School of Automation and Electrical Engineering Zhejiang University of Science and TechnologyHangzhouChina Key Institute of Robotics Industry of Zhejiang Province HangzhouChina

Electrically-excited flux-switching machines are advantageous in simple and reliable structure,good speed control performance,low cost,etc.,so they have arouse wide concerns from new energy ***,they have much lower torque density/thrust density compared with the same type PM *** overcome this challenge,electromagnetic-thermal coupled analysis is carried out with respect to water-cooled electrically-excited flux-switching linear machines(EEFSLM).The simulation results indicate that the conventional fixed copper loss method(FCLM)is no longer suitable for high thrust density design,since it is unable to consider the strong coupling between the electromagnetic and thermal ***,a multi-step electromagnetic-thermal joint optimisation method is proposed,which first ensures the consistency between the electromagnetic and thermal modelling and then considers the effect of different field/armature coil *** using the proposed joint optimisation method,it is found that the combination of relatively large size of field coil and relatively low field copper loss is favourable for achieving high thrust force for the current EEFSLM ***,the thrust force is raised by 13-15%compared with using the *** electromagnetic and thermal performance of the EEFSLM is validated by the prototype test.

关键词： Electrically-excited flux-switching linear machine(EEFSLM) Thrust density Electromagnetic-thermal coupled analysis Joint optimisation coil size copper loss

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An Intuitive Six-DOF Admittance Control Method for Human-Robot Collaboration

An Intuitive Six-DOF Admittance Control Method for Human-Rob...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Meng, Yuming Jiang, Xin Brelen, Marten Erik Liu, Yun-Hui School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China The Chinese University of Hong Kong Department of Ophthalmology and Visual Sciences Hong Kong Hong Kong T Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Admittance control is a well-established frame-work for enhancing human-robot collaboration. Although it is widely applied in translational tasks, the a six-degree-of-freedom (6-DOF) admittance control involving the use of a handle in both translational and rotational spaces is rarely addressed in the literature. This paper introduces 6-DOF admittance control method that utilizes a handle equipped with a force/torque sensor mounted on the robotic arm to intuitively farme the operation of the end effector. By transforming the force/torque applied to the handle into the operation of the end-effector while preserving the operator's intent, intuitive 6-DOF admittance control is achieved. To eliminate the operational risks associated with the uncertainty of the hand's contact point on the handle, uncertainty shielding is implemented, ensuring stable force/torque calculations. The effectiveness of the proposed 6-DOF admittance control method is validated through an assembly operation and a specific trajectory operation. © 2024 IEEE.

关键词： End effectors

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An improved memetic algorithm for multi-objective resource-constrained flexible job shop inverse scheduling problem: An application for machining workshop

An improved memetic algorithm for multi-objective resource-c...

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作者： Wei, Shupeng Tang, Hongtao Li, Xixing Lei, Deming Wang, Xi Vincent School of Mechanical and Electronic Engineering Wuhan University of Technology Wuhan China Hubei Provincial Engineering Research Center of Robotics and Intelligent Manufacturing Wuhan China School of Mechanical Engineering Hubei University of Technology Wuhan China School of Automation Wuhan University of Technology Wuhan China Department of Production Engineering KTH Royal Institute of Technology Sweden

Resource-constrained flexible job shop scheduling problems are commonly encountered in some manufacturing industries, and have been widely studied in recent years. However, traditional resource constrained flexible job shop scheduling problem rarely consider the uncertainties in actual manufacturing systems, which may make the original schedule become suboptimal or even unfeasible. Therefore, a resource constrained flexible job shop inverse scheduling problem (RCFJISP) is proposed in this paper, which aims to cope with uncertain events by simultaneously adjusting the machine, worker and process parameters of the original schedule. A multi-objective optimization model is constructed to minimize the makespan, worker cost, machine energy consumption and deviation index. Furthermore, an improved memetic algorithm (IMA) is developed for solving the proposed problem. In IMA, a novel double-layer encoding mechanism is designed to enhance the capacity in exploring new solution's domains. Three initialization strategies utilizing original scheduling information are designed to improve the quality of initial solutions. An adaptive mutation strategy and a local search mechanism are designed to enhance exploration and exploitation ability of the algorithm. And a crowding operator is proposed to reflect the diversity of the population effectively. In computational experiments, 28 extended benchmarks are constructed, and the effectiveness of the proposed strategy and algorithm is verified by comparing IMA with its 4 variants and other 4 widely used algorithms. Finally, two inverse scheduling problems of a real-world hydraulic cylinder machining workshop under two uncertain situations are studied. The results demonstrate that IMA can effectively solve the actual inverse scheduling problem. With a slight adjustment to the original scheduling, it can reduce the makespan by 11.5%, the worker cost by 8.1% and the machine energy consumption by 27.9% on average. © 2024 The Society of Ma

关键词： Multiobjective optimization

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