Biomimetic Intelligence and Robotics最新文献_第4页

Using neuroevolution for designing soft medical devices 利用神经进化技术设计软性医疗器械

Biomimetic Intelligence and Robotics Pub Date : 2024-12-19 DOI: 10.1016/j.birob.2024.100205

Hugo Alcaraz-Herrera , Michail-Antisthenis Tsompanas , Igor Balaz , Andrew Adamatzky

引用次数: 0

Review of bioinspired aquatic jumping robots 仿生水上跳跃机器人综述

Biomimetic Intelligence and Robotics Pub Date : 2024-12-13 DOI: 10.1016/j.birob.2024.100204

Tao Zhang , Jiawei Dong , Qianqian Chen , Xiongqian Wu , Shuqi Wang , Yisheng Guan

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A survey of autonomous robots and multi-robot navigation: Perception, planning and collaboration 自主机器人与多机器人导航综述：感知、规划与协作

Biomimetic Intelligence and Robotics Pub Date : 2024-12-07 DOI: 10.1016/j.birob.2024.100203

Weinan Chen , Wenzheng Chi , Sehua Ji , Hanjing Ye , Jie Liu , Yunjie Jia , Jiajie Yu , Jiyu Cheng

引用次数: 0

A survey on the visual perception of humanoid robot 仿人机器人视觉感知研究综述

Biomimetic Intelligence and Robotics Pub Date : 2024-11-26 DOI: 10.1016/j.birob.2024.100197

Teng Bin , Hanming Yan , Ning Wang , Milutin N. Nikolić , Jianming Yao , Tianwei Zhang

引用次数: 0

A fast registration method for multi-view point clouds with low overlap in robotic measurement 机器人测量中低重叠多视点云的快速配准方法

Biomimetic Intelligence and Robotics Pub Date : 2024-11-26 DOI: 10.1016/j.birob.2024.100195

Chuangchuang Li , Xubin Lin , Zhaoyang Liao , Hongmin Wu , Zhihao Xu , Xuefeng Zhou

{"title":"A fast registration method for multi-view point clouds with low overlap in robotic measurement","authors":"Chuangchuang Li , Xubin Lin , Zhaoyang Liao , Hongmin Wu , Zhihao Xu , Xuefeng Zhou","doi":"10.1016/j.birob.2024.100195","DOIUrl":"10.1016/j.birob.2024.100195","url":null,"abstract":"<div><div>With the rapid advancement of mechanical automation and intelligent processing technology, accurately measuring the surfaces of complex parts has emerged as a significant research challenge. Robotic measurement technology plays a crucial role in facilitating rapid quality inspections during the manufacturing process due to its inherent flexibility. However, the irregular shapes and viewpoint occlusions of complex parts complicate precise measurement. To address these challenges, this work proposes a point cloud registration network for robotic scanning systems and introduces a DBR-Net (Dual-line Registration Network) to overcome the issues of low overlap rates and perspective occlusion that currently impede the registration of certain workpieces. First, feature extraction is performed using a bilinear encoder and multi-level feature interactions of both point-wise and global features. Subsequently, the features are sampled through unanimous voting and fed into the RANSAC (Random Sample Consensus) algorithm for pose estimation, enabling multi-view point cloud registration. Experimental results demonstrate that this method significantly outperforms many existing techniques in terms of feature extraction and registration accuracy, thereby enhancing the overall performance of point cloud registration.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 2","pages":"Article 100195"},"PeriodicalIF":0.0,"publicationDate":"2024-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143160558","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

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