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Learning Cooperative Dynamic Manipulation Skills from Human Demonstration Videos

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arXiv 2022年

作者： Iodice, Francesco Wu, Yuqiang Kim, Wansoo Zhao, Fei De Momi, Elena Ajoudani, Arash Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milano Italy State Key Laboratory for Manufacturing System Engineering Xi'an Jiaotong University Shaanxi Xi’an China State Key Laboratory of Intelligent Robots School of Mechanical Engineering Xi'an Jiaotong University Shaanxi Xi’an China Robotics Department Hanyang University ERICA Ansan Korea Republic of

This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely available or easily producible offline videos. To achieve this goal, we decode important dynamic information, such as the Configuration Dependent Stiffness (CDS), which reveals the contribution of arm pose to the arm endpoint stiffness, from a three-dimensional human skeleton model. Next, through encoding of the CDS via Gaussian Mixture Model (GMM) and decoding via Gaussian Mixture Regression (GMR), the robot's Cartesian impedance profile is estimated and replicated. We demonstrate the proposed method in a collaborative sawing task with leader-follower structure, considering environmental constraints and dynamic uncertainties. The experimental setup includes two Panda robots, which replicate the leader-follower roles and the impedance profiles extracted from a two-persons sawing video. Copyright © 2022, The Authors. All rights reserved.

关键词： Stiffness

A novel method of combining computer vision, eye-tracking, EMG, and IMU to control dexterous prosthetic hand

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A novel method of combining computer vision, eye-tracking, E...

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Shi, Chunyuan Qi, Le Yang, Dapeng Zhao, Jingdong Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China Artificial Intelligence Laboratory State Key Laboratory of Robotics and System Harbin150081 China

ISBN: (纸本)9781728163215

Due to poor robustness, instability, and the heavy burden of use, the traditional myoelectric control method is still powerless in the face of the control of the dexterous prosthetic hand. To solve this problem, a new method (CVEEI), that combines computer vision, eye tracking, electromyogram (EMG) and IMU was proposed in this paper. Firstly, through gazing (eye-tracking) in front of the screen, the grasping pattern of the objects can be fed back to the prosthetic hand controller;Then, the prosthetic hand can be controlled to transport the object to the position expected, on collaboration of both EMG and IMU. In this process, the grasping pattern of all objects can be recognized by computer vision in real-time. Importantly, through comparing the traditional EMG control method (co-contraction to switch) in the transport experiment of the objects, the superiority of this new method in operating the dexterous prosthetic hand was further verified (fast > 1s/single object) in this paper. © 2019 IEEE.

关键词： Eye tracking

A Novel Sample Manipulation Device (SMD) for Lunar Regolith Volatile In-Situ Exploration: Method and Validation

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A Novel Sample Manipulation Device (SMD) for Lunar Regolith ...

IEEE International Conference on robotics and Biomimetics

作者： Junyue Tang Tian Yang Xiren Chen Ziheng Liu Jiannan Li Zhiheng Zhang Junxiao Xiao Cheng Chi Shengyuan Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China Nanjing University of Aeronautics and Astronautics Chinese Academy of Sciences Institute of Geology and Geophysics Beijing P. R. China

ISBN: (纸本)9781665481106

Extraction and analysis of volatile substances in lunar regoilth is an important means to reveal the formation of the Earth-moon system and explore lunar resources. At present, volatile matter loss will be caused by shock vibration and pressure change of returned samples, so volatile matter needs to be prepared in situ on the lunar surface. In order to accurately measure the contents of volatile matter in lunar regoilth, it is necessary to collect samples with constant volume and quantity. In view of the above problems, this paper designed a sample manipulation device for quantitative detection, sample transfer and volatile preparation of lunar regoilth. The device carries 12 sample tubes through the gear disc to realize double station sample transfer. Seal requirements during sample reception and heating are achieved by lifting the rack. The test shows that the device can accurately measure the sample volume, the sample transfer time is 76.67s, and the thrust into the furnace is more than 150N, which meets the requirements of sample processing time and sealing. The device has a certain enlightening effect on the subsequent lunar exploration project.

关键词： Heating systems Vibrations Gears Volume measurement Furnaces Moon Switches

Toward the smooth mesh climbing of a miniature robot using bioinspired soft and expandable claws

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arXiv 2022年

作者： Wang, Hong Liu, Peng Ngoc, Phuoc Thanh Tran Li, Bing Li, Yao Sato, Hirotaka State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Singapore

While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks on the tip of tarsi. In this study, we found that beetles actively bent and expanded their claws regularly to crawl freely on mesh surfaces. Inspired by the crawling mechanism of the beetles, we designed an 8-cm miniature climbing robot equipping artificial claws to open and bend in the same cyclic manner as natural beetles. The robot can climb freely with a controllable gait on the mesh surface, steep incline of the angle of 60°, and even transition surface. To our best knowledge, this is the first micro-scale robot that can climb both the mesh surface and cliffy incline. © 2022, CC BY.

关键词： Robots

A Soft Robotic system Imitating the Multimodal Sensory Mechanism of Human Fingers for Intelligent Grasping and Recognition

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SSRN

SSRN 2024年

作者： Xu, Jinsui Xu, Boyi Zhan, Hao Xie, Zhijie Tian, Zhen Lu, Yifan Wang, Zheping Yue, Honghao Yang, Fei South China University of Technology China State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China College of Mechanical and Electrical Engineering Northeast Forestry University Harbin150042 China Science and Technology on Space Physics Laboratory China Academy of Launch Vehicle Technology Beijing100000 China

The sensory function is crucial for achieving precise feedback control and environmental interaction in soft robots. Therefore, the multimodal sensory capabilities that mimic human fingers have always been a research hotspot. This study proposes a design method for a soft robotic gripper that can emulate the multimodal perception mechanism of human fingers and achieve high-precision recognition of grasped objects using machine learning algorithms. In addition, a finger texture structure inspired by human fingerprints is designed using a negative pressure-induced buckling method to enhance the soft gripper's ability to perceive minute surface textures. Inspired by slow adapting (SA) receptors and fast adapting (FA) receptors of human fingers, this study designs a capacitive curvature sensor (CS) and a triboelectric texture sensor (TS) to detect the size, material, and texture of objects. Furthermore, a non-contact medium identification sensor (MIS), having a sensitivity of more than 1300 times higher compared to the traditional MISs, is fabricated using the principle of electromagnetic resonance. It is shown that by employing a deep learning-based multi-channel feature fusion network, the soft grasping system with multimodal sensing can achieve an object recognition accuracy of 98.43%. This work provides an innovative approach for the application of soft robots in various fields, such as logistics sorting and food safety. © 2024, The Authors. All rights reserved.

关键词： Textures

Surface accuracy analysis for hexagonal prism modular deployable antenna

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2021年第12期29卷 2855-2867页

作者： Tian, Da-Ke Fan, Xiao-Dong Jin, Lu Liu, Rong-Qiang Zhang, Ke School of Mechanical Engineering Shenyang Jianzhu University Shenyang110168 China School of Civil Engineering Shenyang Jianzhu University Shenyang110168 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

A surface accuracy analysis model for the support structure of a hexagonal prism modular deployable antenna is proposed because of the large-scale, modular, and high-precision development trend of deployable antennas. The structural composition of the hexagonal modular deployable antenna is elaborated, and the topological rules of the hexagonal modular structure are analyzed. Based on the idea of equal envelope circles and the basic theory of robotics, two mathematical modeling methods of envelope circle, point-surface method and two-point method, are proposed, from which the mathematical model of the intersection point of the equal envelope circle and the mathematical model of the included angle of rib unit are established;the mathematical model for accuracy analysis of the shape surface of the support structure of a modular deployable antenna with a hexagonal prism is built. Finally, the model is verified using a combination of numerical simulations and experimental verifications. The simulation and experimental results show that the enveloping circle can closely fit on the spherical surface, and it is in good agreement with the spherical surface. In the numerical simulation model, the modules of the hexagonal prism are connected accurately. In the experiment, the absolute error of feature points is mainly distributed in 5 to 10 mm, the relative error is mainly concentrated in the range of 0.05% to 0.1%, and the absolute error of the rib unit angle is mostly distributed in the range of 0.05°to 0.1°. The deviation between the measured and the theoretical values is small, and the values are in good agreement. The proposed model can solve the spatial coordinates of all module connection points, which provides a theoretical basis for the analysis and research of the shape accuracy of multi-module deployable antennas. © 2021, Science Press. All right reserved.

关键词： Antennas

Digital Modeling of Massage Techniques and Reproduction by Robotic Arms

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arXiv 2024年

作者： Xu, Yuan Huang, Kui Guo, Weichao Du, Leyi The SJTU Paris Elite Institute of Technology Shanghai Jiao Tong University Shanghai200240 China The State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China School of Gongli Hospital Medical Technology University of Shanghai for Science and Technology China

This paper explores the digital modeling and robotic reproduction of traditional Chinese medicine (TCM) massage techniques. We adopt an adaptive admittance control algorithm to optimize force and position control, ensuring safety and comfort. The paper analyzes key TCM techniques from kinematic and dynamic perspectives, and designs robotic systems to reproduce these massage techniques. The results demonstrate that the robot successfully mimics the characteristics of TCM massage, providing a foundation for integrating traditional therapy with modern robotics and expanding assistive therapy applications. Copyright © 2024, The Authors. All rights reserved.

关键词： Digital elevation model

Simultaneously Calibration of Multi Hand-Eye Robot system Based on Graph

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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

A Novel Hybrid Method for Fault Diagnosis of Industrial Equipment Based on Vibration Signals

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A Novel Hybrid Method for Fault Diagnosis of Industrial Equi...

Prognostics and system Health Management Conference (PHM-Qingdao)

作者： Sen Tao Kai Wang Peng Zeng Tianda Yu Hao Wu Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang China Nuclear Power Institute of China Chengdu China State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing China

Industrial equipment reliability is a critical issue that smart manufacturing systems must address. Implementation of online fault diagnosis for industrial equipment is a promising technology that can improve equipment reliability. Vibration analysis is a popular technique for equipment condition monitoring. For the non-linear and non-stationary features of industrial vibration signals, a hybrid model based on wavelet transform (WT), support vector machine (SVM), and grey wolf optimization algorithm (GWO) is proposed. The time-frequency domain features of fault signals are extracted by wavelet transform to solve the non-linearity of signals, and the obtained feature vectors are input into SVM for classification. Aiming at the problem of setting penalty coefficient and kernel function parameters, GWO is introduced to seek hyperparameters by using the hunting principle of wolves. In the experimental part, firstly, the comparison of the GWO-WT-SVM, GWO-SVM and SVM models was carried out. Secondly, Comparison with classical classification algorithms is made. Apparently, the GWO-WT-SVM model achieves higher accuracy than other models in bearing fault diagnosis.

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