Biomimetic Intelligence and Robotics最新文献_第3页

Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot 基于腿运动学和IMU信息融合的仿人机器人腿里程测量

Biomimetic Intelligence and Robotics Pub Date : 2024-11-25 DOI: 10.1016/j.birob.2024.100196

Huailiang Ma , Aiguo Song , Jingwei Li , Ligang Ge , Chunjiang Fu , Guoteng Zhang

引用次数: 0

Interaction model estimation-based robotic force-position coordinated optimization for rigid–soft heterogeneous contact tasks 基于交互模型估计的机器人刚软非均质接触力位协调优化

Biomimetic Intelligence and Robotics Pub Date : 2024-11-19 DOI: 10.1016/j.birob.2024.100194

Haochen Zheng , Xueqian Zhai , Hongmin Wu , Jia Pan , Zhihao Xu , Xuefeng Zhou

{"title":"Interaction model estimation-based robotic force-position coordinated optimization for rigid–soft heterogeneous contact tasks","authors":"Haochen Zheng , Xueqian Zhai , Hongmin Wu , Jia Pan , Zhihao Xu , Xuefeng Zhou","doi":"10.1016/j.birob.2024.100194","DOIUrl":"10.1016/j.birob.2024.100194","url":null,"abstract":"<div><div>Inspired by Model Predictive Interaction Control (MPIC), this paper proposes differential models for estimating contact geometric parameters and normal-friction forces and formulates an optimal control problem with multiple constraints to allow robots to perform rigid–soft heterogeneous contact tasks. Within the MPIC, robot dynamics are linearized, and Extended Kalman Filters are used for the online estimation of geometry-aware parameters. Meanwhile, a geometry-aware Hertz contact model is introduced for the online estimation of contact forces. We then implement the force-position coordinate optimization by incorporating the contact parameters and interaction force constraints into a gradient-based optimization MPC. Experimental validations were designed for two contact modes: “single-point contact” and “continuous contact”, involving materials with four different Young’s moduli and tested in human arm “relaxation–contraction” task. Results indicate that our framework ensures consistent geometry-aware parameter estimation and maintains reliable force interaction to guarantee safety. Our method reduces the maximum impact force by 50% and decreases the average force error by 42%. The proposed framework has potential applications in medical and industrial tasks involving the manipulation of rigid, soft, and deformable objects.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 1","pages":"Article 100194"},"PeriodicalIF":0.0,"publicationDate":"2024-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143151592","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

Parameterization-based trajectory planning for an 8-DOF manipulator with multiple constraints 基于参数化的多约束八自由度机械臂轨迹规划

Biomimetic Intelligence and Robotics Pub Date : 2024-11-14 DOI: 10.1016/j.birob.2024.100193

Ziwu Ren, Zhongyuan Wang, Xiaohan Liu, Rui Lin

引用次数: 0

Modeling and precise tracking control of spatial bending pneumatic soft actuators 空间弯曲气动软执行器的建模和精确跟踪控制

Biomimetic Intelligence and Robotics Pub Date : 2024-11-04 DOI: 10.1016/j.birob.2024.100192

Yize Ma, Qingxiang Wu, Zehao Qiu, Yongchun Fang, Ning Sun

引用次数: 0

Design and kinematics analysis of a cable-stayed notch manipulator for transluminal endoscopic surgery 用于腔内内窥镜手术的拉索式切口机械手的设计和运动学分析

Biomimetic Intelligence and Robotics Pub Date : 2024-10-28 DOI: 10.1016/j.birob.2024.100191

Yanqiang Lei , Fuxin Du , Huajian Song , Liping Zhang

{"title":"Design and kinematics analysis of a cable-stayed notch manipulator for transluminal endoscopic surgery","authors":"Yanqiang Lei , Fuxin Du , Huajian Song , Liping Zhang","doi":"10.1016/j.birob.2024.100191","DOIUrl":"10.1016/j.birob.2024.100191","url":null,"abstract":"<div><div>The friction between the joints of the continuum manipulator with discrete joints brings great difficulties to kinematic modeling. The traditional driving wire arrangement limits the load capacity of the manipulator. A cable-stayed notch manipulator for transluminal endoscopic surgery is proposed, and a driving force coupling kinematic mode is established. The manipulator is fabricated from a superelastic Nitinol tube with bilaterally cut rectangular notches and is actuated by a stay cable. By applying the comprehensive elliptic integral solution (CEIS) for large deformation beams, the bending angle of each elastic beam is obtained, and the kinematics from the driving space to the joint space is formed. According to the bending angle of each elastic beam, the expression of the manipulator in Cartesian space can be obtained by geometric analysis. The kinematics from the joint space to the Cartesian space is established. The outer diameter of the manipulator is only 3.5 mm, and the inner diameter can reach 2 mm, allowing instruments to pass through. The maximum error of the manipulator movement is less than 5%. The load capacity of the manipulator has been verified through the stiffness experiments, and the maximum load of the manipulator can reach 400 g. The cable-stayed notch manipulator can be accurately modeled on the base of CEIS, and its motion accuracy can meet the needs of engineering applications. The compact size and excellent load capacity of the manipulator make it potential for application in transluminal endoscopic surgical robots.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 4","pages":"Article 100191"},"PeriodicalIF":0.0,"publicationDate":"2024-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142702391","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

DS-YOLO: A dense small object detection algorithm based on inverted bottleneck and multi-scale fusion network DS-YOLO：基于倒置瓶颈和多尺度融合网络的密集小目标检测算法

Biomimetic Intelligence and Robotics Pub Date : 2024-10-26 DOI: 10.1016/j.birob.2024.100190

Hongyu Zhang , Guoliang Li , Dapeng Wan , Ziyue Wang , Jinshun Dong , Shoujun Lin , Lixia Deng , Haiying Liu

{"title":"DS-YOLO: A dense small object detection algorithm based on inverted bottleneck and multi-scale fusion network","authors":"Hongyu Zhang , Guoliang Li , Dapeng Wan , Ziyue Wang , Jinshun Dong , Shoujun Lin , Lixia Deng , Haiying Liu","doi":"10.1016/j.birob.2024.100190","DOIUrl":"10.1016/j.birob.2024.100190","url":null,"abstract":"<div><div>In the field of security, intelligent surveillance tasks often involve a large number of dense and small objects, with severe occlusion between them, making detection particularly challenging. To address this significant challenge, Dense and Small YOLO (DS-YOLO), a dense small object detection algorithm based on YOLOv8s, is proposed in this paper. Firstly, to enhance the dense small objects’ feature extraction capability of backbone network, the paper proposes a lightweight backbone. The improved C2fUIB is employed to create a lightweight model and expand the receptive field, enabling the capture of richer contextual information and reducing the impact of occlusion on detection accuracy. Secondly, to enhance the feature fusion capability of model, a multi-scale feature fusion network, Light-weight Full Scale PAFPN (LFS-PAFPN), combined with the DO-C2f module, is introduced. The new module successfully reduces the miss rate of dense small objects while ensuring the accuracy of detecting large objects. Finally, to minimize feature loss of dense objects during network transmission, a dynamic upsampling module, DySample, is implemented. DS-YOLO was trained and tested on the CrowdHuman and VisDrone2019 datasets, which contain a large number of densely populated pedestrians, vehicles and other objects. Experimental evaluations demonstrated that DS-YOLO has advantages in dense small object detection tasks. Compared with YOLOv8s, the Recall and [email protected] are increased by 4.9% and 4.2% on CrowdHuman dataset, 4.6% and 5% on VisDrone2019, respectively. Simultaneously, DS-YOLO does not introduce a substantial amount of computing overhead, maintaining low hardware requirements.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 4","pages":"Article 100190"},"PeriodicalIF":0.0,"publicationDate":"2024-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142552404","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 autonomy teaming-based safety-aware navigation through bio-inspired and graph-based algorithms 通过生物启发和基于图的算法实现基于人类自主团队的安全意识导航

Biomimetic Intelligence and Robotics Pub Date : 2024-10-18 DOI: 10.1016/j.birob.2024.100189

Timothy Sellers , Tingjun Lei , Chaomin Luo , Zhuming Bi , Gene Eu Jan

{"title":"Human autonomy teaming-based safety-aware navigation through bio-inspired and graph-based algorithms","authors":"Timothy Sellers , Tingjun Lei , Chaomin Luo , Zhuming Bi , Gene Eu Jan","doi":"10.1016/j.birob.2024.100189","DOIUrl":"10.1016/j.birob.2024.100189","url":null,"abstract":"<div><div>In the field of autonomous robots, achieving complete precision is challenging, underscoring the need for human intervention, particularly in ensuring safety. Human Autonomy Teaming (HAT) is crucial for promoting safe and efficient human–robot collaboration in dynamic indoor environments. This paper introduces a framework designed to address these precision gaps, enhancing safety and robotic interactions within such settings. Central to our approach is a hybrid graph system that integrates the Generalized Voronoi Diagram (GVD) with spatio-temporal graphs, effectively combining human feedback, environmental factors, and key waypoints. An integral component of this system is the improved Node Selection Algorithm (iNSA), which utilizes the revised Grey Wolf Optimization (rGWO) for better adaptability and performance. Furthermore, an obstacle tracking model is employed to provide predictive data, enhancing the efficiency of the system. Human insights play a critical role, from supplying initial environmental data and determining key waypoints to intervening during unexpected challenges or dynamic environmental changes. Extensive simulation and comparison tests confirm the reliability and effectiveness of our proposed model, highlighting its unique advantages in the domain of HAT. This comprehensive approach ensures that the system remains robust and responsive to the complexities of real-world applications.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 4","pages":"Article 100189"},"PeriodicalIF":0.0,"publicationDate":"2024-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142702506","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

Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structure 采用串联s型骨架结构的fdm可打印肌腱驱动连续机器人的设计

Biomimetic Intelligence and Robotics Pub Date : 2024-10-18 DOI: 10.1016/j.birob.2024.100188

Kaidi Zhu, Tim C. Lueth, Yilun Sun

引用次数: 0

Editorial for the special issue on bio-inspired robotic dexterity intelligence 为生物启发机器人灵巧智能特刊撰写社论

Biomimetic Intelligence and Robotics Pub Date : 2024-10-16 DOI: 10.1016/j.birob.2024.100186

Qiang Li, Shuo Wang, Cong Wang, Jihong Zhu

引用次数: 0

Leveraging large language models for comprehensive locomotion control in humanoid robots design 在仿人机器人设计中利用大型语言模型实现综合运动控制

Biomimetic Intelligence and Robotics Pub Date : 2024-10-16 DOI: 10.1016/j.birob.2024.100187

Shilong Sun , Chiyao Li , Zida Zhao , Haodong Huang , Wenfu Xu

引用次数: 0