Biomimetic Intelligence and Robotics最新文献_第2页

Forward solution algorithm of Fracture reduction robots based on Newton-Genetic algorithm 基于牛顿-遗传算法的骨折复位机器人正解算法

Biomimetic Intelligence and Robotics Pub Date : 2025-01-28 DOI: 10.1016/j.birob.2025.100216

Jian Li , Xiangyan Zhang , Yadong Mo , Guang Yang , Yun Dai , Chengyu Lv , Ying Zhang , Shimin Wei

{"title":"Forward solution algorithm of Fracture reduction robots based on Newton-Genetic algorithm","authors":"Jian Li , Xiangyan Zhang , Yadong Mo , Guang Yang , Yun Dai , Chengyu Lv , Ying Zhang , Shimin Wei","doi":"10.1016/j.birob.2025.100216","DOIUrl":"10.1016/j.birob.2025.100216","url":null,"abstract":"<div><div>The Fracture Reduction Robot (FRR) is a crucial component of robot-assisted fracture correction technology. However, long-term clinical experiments have identified significant challenges with the forward kinematics of the parallel FRR, notably slow computation speeds and low precision. To address these issues, this paper proposes a hybrid algorithm that integrates the Newton method with a genetic algorithm. This approach harnesses the rapid computation and high precision of the Newton method alongside the strong global convergence capabilities of the genetic algorithm. To comprehensively evaluate the performance of the proposed algorithm, comparisons are made against the analytical method and the Additional Sensor Algorithm (ASA) using identical computational examples. Additionally, iterative comparisons of iteration counts and precision are conducted between traditional numerical methods and the Newton-Genetic algorithm. Experimental results show that the Newton-Genetic algorithm achieves a balance between computation speed and precision, with an accuracy reaching the 10<span><math><mrow><msup><mrow></mrow><mrow><mo>−</mo><mn>4</mn></mrow></msup><mspace></mspace><mi>mm</mi></mrow></math></span> order of magnitude, effectively meeting the clinical requirements for fracture reduction robots in medical correction.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 2","pages":"Article 100216"},"PeriodicalIF":0.0,"publicationDate":"2025-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143465049","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fuzzy adaptive variable impedance control on deformable shield of defecation smart care robot 排便智能护理机器人变形护罩模糊自适应变阻抗控制

Biomimetic Intelligence and Robotics Pub Date : 2025-01-25 DOI: 10.1016/j.birob.2025.100214

Lingling Chen , Pengyue Lai , Yanglong Wang , Yuxin Dong

引用次数: 0

Learning-based locomotion control fusing multimodal perception for a bipedal humanoid robot 融合多模态感知的两足仿人机器人学习运动控制

Biomimetic Intelligence and Robotics Pub Date : 2025-01-18 DOI: 10.1016/j.birob.2025.100213

Chao Ji , Diyuan Liu , Wei Gao , Shiwu Zhang

{"title":"Learning-based locomotion control fusing multimodal perception for a bipedal humanoid robot","authors":"Chao Ji , Diyuan Liu , Wei Gao , Shiwu Zhang","doi":"10.1016/j.birob.2025.100213","DOIUrl":"10.1016/j.birob.2025.100213","url":null,"abstract":"<div><div>The ability of bipedal humanoid robots to walk adaptively on varied terrain is a critical challenge for practical applications, drawing substantial attention from academic and industrial research communities in recent years. Traditional model-based locomotion control methods have high modeling complexity, especially in complex terrain environments, making locomotion stability difficult to ensure. Reinforcement learning offers an end-to-end solution for locomotion control in humanoid robots. This approach typically relies solely on proprioceptive sensing to generate control policies, often resulting in increased robot body collisions during practical applications. Excessive collisions can damage the biped robot hardware, and more critically, the absence of multimodal input, such as vision, limits the robot’s ability to perceive environmental context and adjust its gait trajectory promptly. This lack of multimodal perception also hampers stability and robustness during tasks. In this paper, visual information is added to the locomotion control problem of humanoid robot, and a three-stage multi-objective constraint policy distillation optimization algorithm is innovantly proposed. The expert policies of different terrains to meet the requirements of gait aesthetics are trained through reinforcement learning, and these expert policies are distilled into student through policy distillation. Experimental results demonstrate a significant reduction in collision rates when utilizing a control policy that integrates multimodal perception, especially in challenging terrains like stairs, thresholds, and mixed surfaces. This advancement supports the practical deployment of bipedal humanoid robots.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 1","pages":"Article 100213"},"PeriodicalIF":0.0,"publicationDate":"2025-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143378305","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Human-like dexterous manipulation for anthropomorphic five-fingered hands: A review 拟人化五指手的类人灵巧操作：综述

Biomimetic Intelligence and Robotics Pub Date : 2025-01-14 DOI: 10.1016/j.birob.2025.100212

Yayu Huang , Dongxuan Fan , Haonan Duan , Dashun Yan , Wen Qi , Jia Sun , Qian Liu , Peng Wang

{"title":"Human-like dexterous manipulation for anthropomorphic five-fingered hands: A review","authors":"Yayu Huang , Dongxuan Fan , Haonan Duan , Dashun Yan , Wen Qi , Jia Sun , Qian Liu , Peng Wang","doi":"10.1016/j.birob.2025.100212","DOIUrl":"10.1016/j.birob.2025.100212","url":null,"abstract":"<div><div>Humans excel at dexterous manipulation; however, achieving human-level dexterity remains a significant challenge for robots. Technological breakthroughs in the design of anthropomorphic robotic hands, as well as advancements in visual and tactile perception, have demonstrated significant advantages in addressing this issue. However, coping with the inevitable uncertainty caused by unstructured and dynamic environments in human-like dexterous manipulation tasks, especially for anthropomorphic five-fingered hands, remains an open problem. In this paper, we present a focused review of human-like dexterous manipulation for anthropomorphic five-fingered hands. We begin by defining human-like dexterity and outlining the tasks associated with human-like robot dexterous manipulation. Subsequently, we delve into anthropomorphism and anthropomorphic five-fingered hands, covering definitions, robotic design, and evaluation criteria. Furthermore, we review the learning methods for achieving human-like dexterity in anthropomorphic five-fingered hands, including imitation learning, reinforcement learning and their integration. Finally, we discuss the existing challenges and propose future research directions. This review aims to stimulate interest in scientific research and future applications.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 1","pages":"Article 100212"},"PeriodicalIF":0.0,"publicationDate":"2025-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143420371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Editorial for the special issue on biomimetic soft robotics: Actuation, sensing, and integration 仿生软体机器人特刊社论：驱动、感应与整合

Biomimetic Intelligence and Robotics Pub Date : 2025-01-14 DOI: 10.1016/j.birob.2025.100211

Ming Jiang, Muhao Chen, Dongbo Zhou, Zebing Mao

引用次数: 0

A guided approach for cross-view geolocalization estimation with land cover semantic segmentation 基于土地覆盖语义分割的交叉视角定位估计方法

Biomimetic Intelligence and Robotics Pub Date : 2025-01-11 DOI: 10.1016/j.birob.2024.100208

Nathan A.Z. Xavier , Elcio H. Shiguemori , Marcos R.O.A. Maximo , Mubarak Shah

引用次数: 0

Optimization-based UWB positioning with multiple tags for estimating position and rotation simultaneously 基于优化的多标签超宽带定位，同时估计位置和旋转

Biomimetic Intelligence and Robotics Pub Date : 2025-01-10 DOI: 10.1016/j.birob.2025.100210

Hao Chen , Bo Yang , Luyang Li , Tao Liu , Jiacheng Zhang , Ying Zhang

{"title":"Optimization-based UWB positioning with multiple tags for estimating position and rotation simultaneously","authors":"Hao Chen , Bo Yang , Luyang Li , Tao Liu , Jiacheng Zhang , Ying Zhang","doi":"10.1016/j.birob.2025.100210","DOIUrl":"10.1016/j.birob.2025.100210","url":null,"abstract":"<div><div>Currently, the ultra-wideband (UWB) positioning scheme is widely applied to indoor robot positioning and has achieved high positioning accuracy. However, in some narrow and complex environments, its accuracy is still significantly degraded by the multipath effect or non-line-of-sight situations. In addition, the current single tag-based pure UWB positioning methods only estimate the tag position and ignore the rotation estimation of the robot. Therefore, in this paper, we propose a multiple tags-based UWB positioning method to estimate the position and rotation simultaneously, and further improve the position estimation accuracy. To be specific, we first install four fixed tags on the robot. Then, based on the ranging measurements, anchor positions and geometric relationships between each tag, we design five different geometric constraints and smooth constraints to build a whole optimization function. With this optimization function, both the rotations and positions at each time step can be estimated by the iterative optimization algorithm, and the results of tag positions can be improved. Both simulation and real-world experiments are conducted to evaluate the proposed method. Furthermore, we also explore the effect of relative distances between multiple tags on the rotations in the experiments. The experimental results suggest that the proposed method can effectively improve the position estimation performance, while the large relative distances between multiple tags benefit the rotation estimation.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 2","pages":"Article 100210"},"PeriodicalIF":0.0,"publicationDate":"2025-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143422513","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Learning-based robot assembly method for peg insertion tasks on inclined hole using time-series force information 基于时间序列力信息的斜孔插钉机器人学习装配方法

Biomimetic Intelligence and Robotics Pub Date : 2025-01-05 DOI: 10.1016/j.birob.2024.100209

Zhifei Shen , Zhiyong Jiang , Jingwang Zhang , Jun Wu , Qiuguo Zhu

引用次数: 0

Motion planning for robotics: A review for sampling-based planners 机器人运动规划：基于采样的规划器综述

Biomimetic Intelligence and Robotics Pub Date : 2025-01-04 DOI: 10.1016/j.birob.2024.100207

Liding Zhang , Kuanqi Cai , Zewei Sun , Zhenshan Bing , Chaoqun Wang , Luis Figueredo , Sami Haddadin , Alois Knoll

{"title":"Motion planning for robotics: A review for sampling-based planners","authors":"Liding Zhang , Kuanqi Cai , Zewei Sun , Zhenshan Bing , Chaoqun Wang , Luis Figueredo , Sami Haddadin , Alois Knoll","doi":"10.1016/j.birob.2024.100207","DOIUrl":"10.1016/j.birob.2024.100207","url":null,"abstract":"<div><div>Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex environments while avoiding collisions and optimizing metrics like path length, sweep area, execution time, and energy consumption. Among the available algorithms, sampling-based methods have gained the most traction in both research and industry due to their ability to handle complex environments, explore free space, and offer probabilistic completeness along with other formal guarantees. Despite their widespread application, significant challenges still remain. To advance future planning algorithms, it is essential to review the current state-of-the-art solutions and their limitations. In this context, this work aims to shed light on these challenges and assess the development and applicability of sampling-based methods. Furthermore, we aim to provide an in-depth analysis of the design and evaluation of ten of the most popular planners across various scenarios. Our findings highlight the strides made in sampling-based methods while underscoring persistent challenges. This work offers an overview of the important ongoing research in robotic motion planning.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 1","pages":"Article 100207"},"PeriodicalIF":0.0,"publicationDate":"2025-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143151589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A hybrid artificial bee colony algorithm with genetic augmented exploration mechanism toward safe and smooth path planning for mobile robot 基于遗传增强探索机制的混合人工蜂群算法求解移动机器人安全平滑路径规划

Biomimetic Intelligence and Robotics Pub Date : 2024-12-26 DOI: 10.1016/j.birob.2024.100206

Fan Ye , Peng Duan , Leilei Meng , Lingyan Xue

{"title":"A hybrid artificial bee colony algorithm with genetic augmented exploration mechanism toward safe and smooth path planning for mobile robot","authors":"Fan Ye , Peng Duan , Leilei Meng , Lingyan Xue","doi":"10.1016/j.birob.2024.100206","DOIUrl":"10.1016/j.birob.2024.100206","url":null,"abstract":"<div><div>Path planning is important for mobile robot to ensure safe and efficient navigation. This paper proposes a hybrid artificial bee colony with genetic augmented exploration mechanism (HABC-GA) that enables mobile robot to achieve safe and smooth path planning. Considering the characteristics of path planning problem, a mathematical model is constructed to balance three objectives: path length, path safety, and path smoothness. In the employed bee phase, a genetic augmented exploration mechanism is designed, which encompasses redesigned path crossover, adaptive obstacle-aware mutation, and dynamic elite selection operators. In the onlooker bee phase, an objective-guided optimization strategy is investigated to improve local search ability. In the scout bee phase, a dual exploration restart strategy is developed to increase the activity of individuals in the population, in which stagnant individuals in the evolution are replaced by more promising ones. Finally, the proposed HABC-GA is compared with five efficient algorithms in 24 instances of six representative environments. Simulation results demonstrate the effectiveness and high performance of HABC-GA in obtaining safe and smooth paths.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 2","pages":"Article 100206"},"PeriodicalIF":0.0,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143160557","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0