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

作者： Erfan Koochakzadeh Alireza Kargar Parsa Sattari Diba Ravanshid Rezvan Nasiri Research Institute for Robotics Artificial Intelligence and Information Science (RAIIS) Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper highlights the benefits of using series elastic actuators (SEA) in designing a cost-efficient, easily controlled, and functional prosthetic hand. The designed 3D-printed hand uses only two motors in an antagonistic configuration, transferring power to the fingers via pulleys, cables, and springs; i.e., the motors are in an SEA configuration with the load/fingers. In the designed underactuated prosthetic hand, the thumb is adjustable for various tasks, and the optimization of pulley diameters ensures synchronized finger movement during hand flexion and extension. Thanks to the SEA configuration of the motors and fingers, simple position control of the motor enables features like hand position control, morphological grasp, force control, impedance control, slippage detection, safe interaction, and efficient grasp. An extensive set of experiments has been conducted to evaluate the designed prosthetic hand’s performance. The experiments confirm the hand’s satisfactory performance while also highlighting the importance of improving the proposed design in different aspects. To attain better position control and morphological grasp, minimizing the cable-body and joint friction is recommended. A higher resolution of the current/torque sensor is needed for the precise force control and slippage detection. Finally, a motor brake system is required to achieve efficient grasping.

关键词： Hands Actuators Pulleys Thumb Position control Motors Synchronization Force control Springs Prosthetic hand

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A New Agile Actuation System of a Cable-Driven Parallel Robot

A New Agile Actuation System of a Cable-Driven Parallel Robo...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian MohammadJavad Shabani SeyedSina Seyedi HasanAbadi Mohammadreza Dahaaghin Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotic and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

Cable-driven Parallel Robots (CDPRs) offer a wider range of workspace compared to rigid-link parallel robots. These robots are equipped with an actuation system that satisfies some requirements, such as having low inertia and a negligible amount of friction. These two criteria lead to the agility definition of a system. On the other hand, winch-drum actuation systems should be able to wind the cable properly, in a way it does not be wound on itself. In this paper, an innovative winch-drum actuation system with a universal joint module is designed and fabricated for a CDPR. The winch-drum module is equipped with a power screw module which allows the cable to be wound properly around the drum and the universal joint module allows the cable to accordingly orient within the workspace. To validate the proposed designated system, it is experimentally evaluated in two control scenarios; i.e. reaching a set point and path tracking task The results show that the proposed actuation system fulfills the desired criteria and has the potential to be implemented in any other CDPR.

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Intelligent Model-Free control for Tendon-Driven Continuum Robotic Arms

Intelligent Model-Free Control for Tendon-Driven Continuum R...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Nima Maghooli Omid Mahdizadeh S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotic and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

Continuum manipulator modeling is always associated with structured and unstructured uncertainties. Therefore, model-based control system design for this class of robotic systems will be very challenging. On the other hand, the performance quality of model-free controllers is completely dependent on their hyperparameters; they are also very sensitive to the considered trajectory for the system. As a result, using model-free controllers will require setting parameters for different scenarios. In this research, the design of a model-free controller with comparable performance to model-based control strategies is presented. To this end, various parameters are determined online by the gain adjustment system. The research innovation is to use a supervised machine learning method, fuzzy inference system (FIS), to implement the intelligent gain adaptation system to achieve this goal. The Modified Transpose Jacobian (MTJ) performs well in trajectory tracking due to its approximated feedback linearization tool. In addition, the PID controller structure makes it a locally robust control strategy. An adaptive gain adjustment system can greatly increase algorithm potential and establish the capability to follow trajectories in different work points in the system work space. This research aims to improve the performance of the MTJ model-free control strategy in tracking trajectories starting from arbitrary initial conditions in the system work space. This is achieved by the gain adjustment system design using a fuzzy inference system. Both simulation and experimental results reveal the merits of the proposed controller.

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Test-Stand Development and Performance Analysis of RoboWalk Assistive Device

Test-Stand Development and Performance Analysis of RoboWalk ...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Omid Mahdizadeh Vahid Akbari Mahdi Nabipour Sina Ghanaat Shahin Naeemi Sina Hallajian Arash T. Beydokhti Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

Robotic devices are increasingly studied for the rehabilitation purposes of the lower limb disabilities. Wearable assistive devices such as exoskeletons have been recognized as a practical solution to increase the power and maneuverability of human beings in industries, as well as rehabilitation, elderly care, and sports exercises. RoboWalk is a lower limb assistive device that has been designed in ARAS lab at KNTU. To guarantee its proper performance, a Test-Stand is designed and manufactured with extended toolkit options. To validate the simulation results of various scenarios, is the main goal of developing this Test-Stand. Also, to examine the electronics boards and subsystems, the correct interaction between the sensors and the actuators, and investigate the performance of the main control loop, and so on, the Test-Stand is highly useful. In this paper, these various aspects of design and manufacturing of RoboWalk test stand are presented. Stress analyses in SOLIDWORKS software showed that the design of the proposed device is capable to handle the required tasks. Finally, a positioning task is implemented, which reveals the merits of the designed Test_Stand.

关键词： Performance evaluation Simulation Exoskeletons Software Sensors Manufacturing Assistive devices

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Self-Tuning Robust Tracking control for Autonomous Underwater Vehicles

Self-Tuning Robust Tracking Control for Autonomous Underwate...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Nima Maghooli Fahimeh S. Tabatabaee-Nasab S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics … Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

This paper addresses the control design problem for a nonlinear and nonholonomic dynamics model of an autonomous underwater vehicle. The kinematics control algorithm is a PID controller while a self-tuning control method is used for trajectory tracking. The kinetics control algorithm is based on an integral sliding mode technique that is robust against time-varying disturbances. The obtained results presented here use the Remote Environmental Monitoring UnitS (REMUS) underwater vehicle model and show the high performance of the controller. Based on the results demonstrated for the two designated trajectories, the tracking quality of self-tuning robust control, despite the significant similarity of the control input of both algorithms for x, y, and z, is much better than the sliding mode control. As a result, AUV was able to follow the desired trajectory, and tracking errors converged to zero. It is worth noting that at non-derivative points of the path (1 st trajectory), tracking errors were entirely within response quality limits (y = ±0.05[m]). The order of control efforts of the proposed control is suitable and can be implemented in the physical system.

关键词： Robust control Autonomous underwater vehicles Mechatronics Trajectory tracking Heuristic algorithms Robot kinematics Trajectory

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Forward Kinematics Development of a 3-RRS Parallel Manipulator for Real-Time control

Forward Kinematics Development of a 3-RRS Parallel Manipulat...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Omid Mahdizadeh Sina Hallajian Sara Ashrafi Mohammad Jamali Vahid Akbari Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

In control of parallel robots, forward kinematics calculation is mainly required. In some studies, obtained equations are solved numerically with massive calculations that is not acceptable for control implementations. This paper introduces a new method to extract forward kinematics for a 3- RRS robot. This method calculates the kinematics of passive joints with two separated equations, which can be solved to decrease the total computation demands. Also, a new weight compensation mechanism is proposed to improve the dynamic response by a linear pneumatic actuator placed between the ground and the end-effector. On the other hand, to use various control algorithms, the position of the rolling ball on the end- effector (moving platform) must be measured. This is performed using Convolutional Neural Networks (CNNs) as image processing algorithms. Since the system must work quickly for a high-frequency task, the proposed image processing algorithm can provide the desired fast feedback. Experimental results reveal the merits of the above-described proposed modules.

关键词： Pneumatic actuators Image processing Heuristic algorithms Kinematics Position measurement Pneumatic systems Mathematical models

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A New Robust control for Mobile Robots with Differential Wheels: Output- and State- Dependent Riccati Equation Approach

A New Robust Control for Mobile Robots with Differential Whe...

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International Conference on control, Instrumentation, and Automation

作者： Neda Nasiri Ahmad Fakharian Mohammad Bagher Menhaj Dept. of Electrical Engineering Qazvin Branch Islamic Azad University Qazvin Iran Dept. of Electrical Engineering The Center of Excellence on Control and Robotics Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran

A new application of Output- and State- Dependent Riccati Equation (OSDRE) framework for robust control of over-actuated uncertain systems with constraints is addressed in this paper. Towards this aim, an equivalent optimal problem is introduced using OSDRE. The performance index for an auxiliary output- and state- dependent system is modified through inclusion uncertainty upper bounds and then minimized. The proposed method is employed for controller design of a mobile robot with differential wheels. Uncontrollability condition put on SDRE due to differential constraints of wheels. This problem leads to SDRE to be hardly solved. One could overcome this problem by a proper coordinate transformation. In this paper considering the capability of output feedback to remove outer layer of kinematic and direct control the output dynamics, this problem is handled. Simulation results for a mathematical model and a wheeled mobile robot easily demonstrate the efficiency and satisfactory performance of the proposed robust control scheme.

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KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove

KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Tanin Boka M. Navid Nikkhah S. Ali A. Moosavian Dept of Mechanical Engineering K. N. Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Toosi University of Technology Tehran Tehran Iran Dept of Mechanical Engineering K. N. Toosi University of Technology Tehran Tehran Iran

This paper introduces an innovative advancement in the field of wearable assistive technology by presenting a revolutionary portable soft robotic glove designed to assist individuals with hand impairments during rehabilitation exercises and daily tasks. The glove offers both active finger flexion and passive extension to aid in hand support and rehabilitative training. It achieves this by utilizing integrated soft actuators, including a variable stiffness layer and a pneumatic-driven layer, which guide specific bending, twisting, and extending movements when air pressure is applied. Notably, the variable stiffness layer takes inspiration from pangolins, whose scales are pliable during daily activities but become rigid when facing threats. To provide increased power with enhanced stiffness, a toothed pneumatic actuator is specially designed. The three-finger soft glove is manufactured by molding super-elastic material, creating the actuator mold using a 3D printer. The glove’s grasping abilities have been thoroughly tested, and experimental results demonstrate that, when compared to previously developed elastomeric-based actuators, these actuators can generate substantial force and torque to facilitate finger flexion even at lower air pressure levels. This capability allows the glove to grasp a wide range of objects, assisting individuals in their rehabilitative training. Furthermore, a control system for grasping has been developed, which includes motion processing unit sensors for collecting feedback signals aligned with the actuators, along with a closed-loop controller for regulating the pressure. In contrast to existing devices, this glove, thanks to its portable design, has the potential to significantly enhance user autonomy and independence.

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HiER: Highlight Experience Replay for Boosting Off-Policy Reinforcement Learning Agents

arXiv

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arXiv 2023年

作者： Horváth, Dániel Martín, Jesús Bujalance Erdos, Ferenc Gábor Istenes, Zoltán Moutarde, Fabien Center for Robotics MINES Paris PSL University Paris75272 France Centre of Excellence in Production Informatics and Control Institute for Computer Science and Control Hungarian Research Network Budapest1111 Hungary CoLocation Center for Academic and Industrial Cooperation Eötvös Loránd University Budapest1117 Hungary

Even though reinforcement-learning-based algorithms achieved superhuman performance in many domains, the field of robotics poses significant challenges as the state and action spaces are continuous, and the reward function is predominantly sparse. Furthermore, on many occasions, the agent is devoid of access to any form of demonstration. Inspired by human learning, in this work, we propose a method named highlight experience replay (HiER) that creates a secondary highlight replay buffer for the most relevant experiences. For the weights update, the transitions are sampled from both the standard and the highlight experience replay buffer. It can be applied with or without the techniques of hindsight experience replay (HER) and prioritized experience replay (PER). Our method significantly improves the performance of the state-of-the-art, validated on 8 tasks of three robotic benchmarks. Furthermore, to exploit the full potential of HiER, we propose HiER+ in which HiER is enhanced with an arbitrary data collection curriculum learning method. Our implementation, the qualitative results, and a video presentation are available on the project site: http://***/hier/. © 2023, CC BY-NC-ND.

关键词： Reinforcement learning

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Distributed formation control of networked mechanical systems

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IFAC-PapersOnLine 2022年第13期55卷 294-299页

作者： N. Javanmardi P. Borja M.J. Yazdanpanah J.M.A. Scherpen Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft The Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen The Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.

关键词： Autonomous systems Cooperative control Networked control systems Large-scale systems Port-Hamiltonian systems Scalability

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