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7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022

作者： Zhou, Huaidong Tuo, Wanchen Chou, Wusheng Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing100191 China State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191 China

ISBN: (纸本)9789819906161

Robot location is a fundamental technology in the field of autonomous robotics and has been widely studied. However, high-precision localization of the mobile robot is still a serious challenge. To investigate this point further, this paper proposes a method to improve the autonomous robot localization accuracy, which adjusts the number of particles in the AMCL algorithm by fusing the information of LRL. LRL data is used to improve the localization accuracy of mobile platforms and prevent kidnapped robot problems. The algorithm is conducted and verified in a real robot system. The experiment results show that the proposed method can achieve high-precision locations in real-world scenarios, and verify the effectiveness of the improved localization system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Mobile robots

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A Hand-Eye Calibration Method for Skin in Situ Printing Based on Feature Point Extraction by Point Cloud Segmentation 13

A Hand-Eye Calibration Method for Skin in Situ Printing Base...

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13th IEEE International Conference on CYBER Technology in automation, Control, and Intelligent Systems, CYBER 2023

作者： Zhu, Runyang Li, Song Gao, Feiyang Li, Wentao Zhu, Huixuan School of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350315196

Skin burn treatment is an urgent problem in the clinic. Skin in situ printing technology was expected to treat skin burns with accurate in situ construction of skin tissue. The first step in the skin in situ printing is to calibrate the hand-eye of the printhead and scanner. However, the accuracy of the existing industrial hand-eye calibration methods is difficult to be applied to the treatment of burned skin. According to the high precision requirement of skin in situ printing, a hand-eye calibration method based on point cloud segmentation feature point extraction is proposed in this paper. Firstly, the statistical filtering method, cluster segmentation method, and RANSAC method are used to remove noise points, plane fitting, and feature point extraction for the scanned point clouds. Then, the feature points processed by the point cloud were matched with the feature points in the coordinate system of the three-dimensional measurement platform and the rotation translation matrix between the coordinate system of the three-dimensional printing platform. The coordinate system of the binocular laser three-dimensional scanner was obtained by the singular value decomposition method. Finally, the wrong cloud data is removed in turn. The hand-eye calibration experimental results show that compared with the method without feature point extraction by point cloud segmentation, the proposed method reduces the average distance and maximum error of the XYZ axis by 78.477% and 82.301%, respectively. Compared with other hand-eye calibration methods, the average distance error is increased from 0.060mm to 0.040mm. It is proved that the hand-eye calibration based on feature point extraction by point cloud segmentation can meet the needs of skin in situ printing, which makes preparation for subsequent skin in situ printing experiments and makes it possible to treat skin burns in situ clinically. © 2023 IEEE.

关键词： Singular value decomposition

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Experimental system of active-passive integrated vibration isolation for robot with weak rigid support 4

Experimental system of active-passive integrated vibration i...

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4th International Conference on Artificial Intelligence, robotics, and Communication, ICAIRC 2024

作者： Chen, Lele Yin, Jiawei Huang, Liang He, Bin Zhan, Yuhan Xue, Lei Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China COMAC Shanghai Aircraft Manufacturing Co. Ltd Aviation Manufacturing Technology Research Institute Shanghai China

ISBN: (纸本)9798331531225

In the manufacturing and assembly process of domestic large airplanes, the vibration in the surrounding environment greatly affects the working efficiency and precision of automated equipment. According to the vibration characteristics of the cabin environment, a multi-degree-of-freedom vibration isolation platform mechanism of robotics with weak rigid support applied in the cabin section of the aircraft is proposed, an experimental platform for the vibration isolation capability of a single outrigger is constructed, and a finite element analysis is carried out on the fixed frame of this experimental platform to verify its reliability. © 2024 IEEE.

关键词： Degrees of freedom (mechanics)

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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

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Frontiers of Mechanical engineering 2022年第2期17卷 71-84页

作者： Peng CHEN Tingwen YUAN Yi YU Yuwang LIU State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Mechanical Engineering Northeastern UniversityShenyang 110000China

Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.

关键词： pneumatic artificial muscles soft robot modeling approach principle of virtual work external load

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Robot Learning from Multiple Demonstrations Based on Generalized Gaussian Mixture Model 28

Robot Learning from Multiple Demonstrations Based on General...

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28th International Conference on automation and Computing, ICAC 2023

作者： Dong, Jiale Si, Weiyong Wang, Ning Yang, Chenguang School of Automation Science and Engineering South China University of Technology Guangzhou China University of the West of England Bristol Robotics Lab BristolBS161QY United Kingdom

ISBN: (纸本)9798350335859

The quality of skills learned by robots from demonstrations depends on the level of demonstration by the instructor, while models such as Dynamic Motion Primitives (DMP) are extremely sensitive to the quality of demonstrations because they can only learn from a single demonstration. In this paper, we propose a method of learning from multiple demonstration. First, we model multiple demonstration data by generalized Gaussian mixture models (GMMs), then generate a smooth trajectory by the Gaussian mixture regression (GMR), and finally, the generated trajectory is modeled by DMP. This method can capture features from multiple demonstrations of the same task, reducing the impact of incorrect demonstrations on skill learning. Additionally, the generalized Gaussian mixture model has strong data fitting ability, enabling robots to learn smooth and high-quality motion skills. Finally, the effectiveness of the proposed method was verified by performing a Chinese character writing task on a Baxter robot. © 2023 IEEE.

关键词： Demonstrations

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A Compact LiDAR Odometry and Mapping with Dynamic Removal

A Compact LiDAR Odometry and Mapping with Dynamic Removal

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2024 IEEE International Conference on Unmanned Systems, ICUS 2024

作者： Zhang, Meifeng Jia, Yanpeng Shao, Shiliang Wang, Shiyi College of Artificial Intelligence Baoding University Baoding China The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China School of Information Science and Engineering Shenyang Ligong University Shenyang China

ISBN: (纸本)9798350384185

Real-time state estimation and mapping is a fundamental function of unmanned systems. In this paper, we propose a compact 3D Lidar odometry and mapping method (C-LOAM) for real-time 6-DOF pose estimation and map construction for unmanned ground vehicles. Our approach firstly remove dynamic objects from the environment by comparing differences between two consecutive range images. We then extract ground points from the range image. The remaining points are segmented in the range image to obtain robust feature points for the registration stage. After performing two-stage scan-matching, we use the extracted ground points to impose ground constraints and leverage the local feature submap for loop closure detection. By employing various data reuse strategies, we minimize memory consumption, creating a compact and accurate system. Experiments on multiple publicly available datasets demonstrate that our system provides more accurate localization and higher-quality maps compared to other state-of-the-art methods. © 2024 IEEE.

关键词： Mapping

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VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and Proprioception 41

VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, T...

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41st International Conference on Machine Learning, ICML 2024

作者： Wan, Zhaoliang Ling, Yonggen Yi, Senlin Qi, Lu Lee, Wangwei Lu, Minglei Yang, Sicheng Teng, Xiao Lu, Peng Yang, Xu Yang, Ming-Hsuan Cheng, Hui School of Computer Science and Engineering Sun Yat-sen University Guangzhou China Robotics X Tencnet Shenzhen China The University of California Merced Merced United States Chinese Academic of Sciences Automation Institute Beijing China

This paper addresses the scarcity of large-scale datasets for accurate object-in-hand pose estimation, which is crucial for robotic in-hand manipulation within the "Perception-Planning-Control" paradigm. Specifically, we introduce VinT-6D, the first extensive multi-modal dataset integrating vision, touch, and proprioception, to enhance robotic manipulation. VinT-6D comprises 2 million VinT-Sim and 0.1 million VinT-Real splits, collected via simulations in MuJoCo and Blender and a custom-designed real-world platform. This dataset is tailored for robotic hands, offering models with whole-hand tactile perception and high-quality, well-aligned data. To the best of our knowledge, the VinT-Real is the largest considering the collection difficulties in the real-world environment so that it can bridge the gap of simulation to real compared to the previous works. Built upon VinT-6D, we present a benchmark method that shows significant improvements in performance by fusing multi-modal information. The project is available at https://***/. Copyright 2024 by the author(s)

关键词： Robot programming

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Instruction-Following Long-Horizon Manipulation by LLM-Empowered Symbolic Planner

Instruction-Following Long-Horizon Manipulation by LLM-Empow...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Li, Zhihao Liu, Junjia Li, Zhuo Yu, Minghao Teng, Tao Zhou, Shunbo Li, Miao Lam, Tin Lun Chen, Fei T-Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong Center for Logistics Robotics Hong Kong Computing Technologies Co. Ltd. Shenzhen China Institute of Technological Sciences Wuhan University Wuhan China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China

ISBN: (纸本)9781665481090

One of the grand goals in robotics is to develop a versatile robot capable of executing a wide array of tasks based on language instructions. These tasks often involve long-horizon manipulation due to the complexity of the real-world tasks and the high-dimensional action space of the dual-arm mobile robots. This work proposes a generalizable framework that combines a Large Language Model, a Visual-language Model, and symbolic planning to address long-horizon bimanual mobile manipulation tasks. We use the Large Language Model as the commonsense reasoner to break down the task into a set of subgoals and generate goal-oriented state queries. Subsequently, we fine-tune a Visual-language Model to obtain answers to queries. Finally, we propose a Planning Domain Definition Language translator that translates the subgoal and the goal-oriented states into a symbolic planning problem that can be solved by search-based planners. The experiments show that the proposed method has generalization ability in novel objects and instruction. It outperforms the baseline methods across all the configurations. Moreover, our approach exhibits competence in increasingly complex tasks, encompassing those that demand upward of 10 planning steps. © 2024 IEEE.

关键词： Visual languages

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Minimizing Data Collection Latency for Coexisting Time-Critical Wireless Networks with Tree Topologies

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IEEE Transactions on Network and Service Management 2025年第3期22卷 2354-2369页

作者： Zhang, Jialin Liang, Wei Yang, Bo Shi, Huaguang Liang, Ying-Chang Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Northwest A and F University College of Information Engineering Yangling712100 China Henan University School of Artificial Intelligence Zhengzhou450046 China University of Electronic Science and Technology of China Center for Intelligent Networking and Communications Chengdu611731 China

Time-Critical Wireless Network (TCWN) is a promising communication technology that can satisfy the low latency, high reliability, and deterministic requirements of mission-critical applications. Multiple TCWNs required by various applications inevitably coexist with each other. Most existing works aim to achieve acceptable latency or consider the simplest topology (i.e., line topology). As latency requirements become more stringent, exploring the minimum data collection latency becomes an interesting problem. In this paper, the coexisting system consists of multiple tree-topology-based TCWNs. We first establish a conversion framework to convert an arbitrary tree topology into multiple analogous line topologies to reduce the analysis complexity. We then propose a Time-Critical wireless network Scheduling (TCS) algorithm to minimize the data collection latency of coexisting TCWNs. The TCS algorithm consists of two phases. In the internetwork scheduling phase, we strictly derive a general expression to characterize the practical network requirements. In the intranetwork scheduling phase, we design two levels of priority assignment algorithms to accurately characterize the critical states and resource requirements of different nodes. We conduct extensive simulations to verify the effectiveness of the TCS algorithm. The evaluation results show that the TCS algorithm can achieve minimum data collection latency in more than 99.956% cases, and the maximum difference compared to the optimal value is one time slot. © 2004-2012 IEEE.

关键词： Scheduling algorithms

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Design and Analysis of Underactuated Robotic Hands for Spacecraft Surface Attachment

Design and Analysis of Underactuated Robotic Hands for Space...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Luo, Yang Wang, Chang Huang, Longfei Ma, Jingya Xu, Kun Ding, Xilun Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing100191 China Institute of Spacecraft System Engineering CAST Beijing100094 China

ISBN: (纸本)9781665481090

Amid rapid development of space technology, it is necessary to carry out relevant operations in space to ensure long and stable in-orbit operation of spacecraft in complex space environment. The end effector of the space manipulator is the main tool which completes the operational targets, but at present, the end effector can only deal with cooperative targets rather than non-cooperative targets. In order to solve the related problems, this paper investigates the bio-inspired dry adhesion, mechanical attachment devices and underactuated robotic hands at home and abroad, analyzes the attachment principle and application scenarios. Based on the studies, a cable-driven two-finger underactuated robotic hand with mixed attachment mode is designed. In this paper, the flexible joints of manipulators are calculated theoretically and simulated, the static characteristics analyzed, and the integrated manufacturing of joints and knuckles is achieved. The layout of flexible substrate and adhesive pad is reasonably designed to enlarge the contact area between the adhesive pad and the target object. A gripping mechanism with certain flexibility is developed to smoothly grasp objects of different shapes. According to the characteristics of different surfaces, targeted attachment control schemes are designed, a principle prototype built, and the attachment ability of the prototype to various surfaces is verified through tests. © 2022 IEEE.

关键词： End effectors

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