Biomimetic Intelligence and Robotics最新文献_第5页

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

LQR-based control strategy for improving human–robot companionship and natural obstacle avoidance 基于 LQR 的控制策略，改善人机陪伴和自然避障能力

Biomimetic Intelligence and Robotics Pub Date : 2024-10-04 DOI: 10.1016/j.birob.2024.100185

Zefan Su , Hanchen Yao , Jianwei Peng , Zhelin Liao , Zengwei Wang , Hui Yu , Houde Dai , Tim C. Lueth

{"title":"LQR-based control strategy for improving human–robot companionship and natural obstacle avoidance","authors":"Zefan Su , Hanchen Yao , Jianwei Peng , Zhelin Liao , Zengwei Wang , Hui Yu , Houde Dai , Tim C. Lueth","doi":"10.1016/j.birob.2024.100185","DOIUrl":"10.1016/j.birob.2024.100185","url":null,"abstract":"<div><div>In the dynamic and unstructured environment of human–robot symbiosis, companion robots require natural human–robot interaction and autonomous intelligence through multimodal information fusion to achieve effective collaboration. Nevertheless, the control precision and coordination of the accompanying actions are not satisfactory in practical applications. This is primarily attributed to the difficulties in the motion coordination between the accompanying target and the mobile robot. This paper proposes a companion control strategy based on the Linear Quadratic Regulator (LQR) to enhance the coordination and precision of robot companion tasks. This method enables the robot to adapt to sudden changes in the companion target’s motion. Besides, the robot could smoothly avoid obstacles during the companion process. Firstly, a human–robot companion interaction model based on nonholonomic constraints is developed to determine the relative position and orientation between the robot and the companion target. Then, an LQR-based companion controller incorporating behavioral dynamics is introduced to simultaneously avoid obstacles and track the companion target’s direction and velocity. Finally, various simulations and real-world human–robot companion experiments are conducted to regulate the relative position, orientation, and velocity between the target object and the robot platform. Experimental results demonstrate the superiority of this approach over conventional control algorithms in terms of control distance and directional errors throughout system operation. The proposed LQR-based control strategy ensures coordinated and consistent motion with target persons in social companion scenarios.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 4","pages":"Article 100185"},"PeriodicalIF":0.0,"publicationDate":"2024-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142572802","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

Predictive modeling of flexible EHD pumps using Kolmogorov–Arnold Networks 利用 Kolmogorov-Arnold 网络建立柔性 EHD 泵的预测模型

Biomimetic Intelligence and Robotics Pub Date : 2024-09-17 DOI: 10.1016/j.birob.2024.100184

Yanhong Peng , Yuxin Wang , Fangchao Hu , Miao He , Zebing Mao , Xia Huang , Jun Ding

引用次数: 0

Human–robot collaborative handling of curtain walls using dynamic motion primitives and real-time human intention recognition 利用动态运动基元和实时人类意图识别实现幕墙的人机协作操控

Biomimetic Intelligence and Robotics Pub Date : 2024-09-10 DOI: 10.1016/j.birob.2024.100183

Fengming Li , Huayan Sun , Enguang Liu , Fuxin Du

{"title":"Human–robot collaborative handling of curtain walls using dynamic motion primitives and real-time human intention recognition","authors":"Fengming Li , Huayan Sun , Enguang Liu , Fuxin Du","doi":"10.1016/j.birob.2024.100183","DOIUrl":"10.1016/j.birob.2024.100183","url":null,"abstract":"<div><div>Human–robot collaboration fully leverages the strengths of both humans and robots, which is crucial for handling large, heavy objects at construction sites. To address the challenges of human–machine cooperation in handling large-scale, heavy objects — specifically building curtain walls — a human–robot collaboration system was designed based on the concept of “human–centered with machine support”. This system allows the handling of curtain walls according to different human intentions. First, a robot trajectory learning and generalization model based on dynamic motion primitives was developed. The operator’s motion intent was then characterized by their speed, force, and torque, with the force impulse introduced to define the operator’s intentions for acceleration and deceleration. Finally, a collaborative experiment was conducted on an experimental platform to validate the robot’s understanding of human handling intentions and to verify its ability to handle curtain wall. Collaboration between humans and robots ensured a smooth and labor-saving handling process.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 4","pages":"Article 100183"},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142433593","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 a spider-inspired wheeled compliant leg for search mobile robots 为搜索移动机器人设计受蜘蛛启发的轮式顺应腿

Biomimetic Intelligence and Robotics Pub Date : 2024-09-06 DOI: 10.1016/j.birob.2024.100182

Yilin Wang, Felix Pancheri, Tim C. Lueth, Yilun Sun

{"title":"Design of a spider-inspired wheeled compliant leg for search mobile robots","authors":"Yilin Wang, Felix Pancheri, Tim C. Lueth, Yilun Sun","doi":"10.1016/j.birob.2024.100182","DOIUrl":"10.1016/j.birob.2024.100182","url":null,"abstract":"<div><div>Earthquake and other disasters nowadays still threat people’s lives and property due to their destructiveness and unpredictability. The past decades have seen the booming development of search and rescue robots due to their potential for increasing rescue capacity as well as reducing personnel safety risk at disaster sites. In this work, we propose a spider-inspired wheeled compliant leg to further improve the environmental adaptability of search mobile robots. Different from the traditional fully-actuated method with independent motor joint control, this leg employs an under-actuated compliant mechanism design with overall semi-tendon-driven control, which enables the passive and active terrain adaptation, system simplification and lightweight of the realized search robot. We have generalized the theoretical model and design methodology for this type of compliant leg, and implement it in a parametric program to improve the design efficiency. In addition, preliminary load capacity and leg-lifting experiments are carried out on a one-leg prototype to evaluate its mechanical performance. A four-legged robot platform is also fabricated for the locomotion tests. The preliminary experimental results have verified the feasibility of the proposed design methodology, and also show possibilities for improvements. In future work, structural optimization and stronger actuation elements should be introduced to further improve the mechanical performance of the fabricated wheeled leg mechanism and robot platform.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 4","pages":"Article 100182"},"PeriodicalIF":0.0,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2667379724000408/pdfft?md5=bf6e8614b8d99680ff314cdf06a261ce&pid=1-s2.0-S2667379724000408-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142311513","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 bionic robotic ankle driven by the multiple pneumatic muscle actuators 由多个气动肌肉致动器驱动的仿生机器人脚踝

Biomimetic Intelligence and Robotics Pub Date : 2024-08-12 DOI: 10.1016/j.birob.2024.100176

Delei Fang, Fangyuan Ren, Jianwei Wang, Pan Li, Lin Cao, Junxia Zhang

{"title":"A bionic robotic ankle driven by the multiple pneumatic muscle actuators","authors":"Delei Fang, Fangyuan Ren, Jianwei Wang, Pan Li, Lin Cao, Junxia Zhang","doi":"10.1016/j.birob.2024.100176","DOIUrl":"10.1016/j.birob.2024.100176","url":null,"abstract":"<div><div>The traditional pneumatic muscle robot joint has weak load capacity and low control precision. This paper proposes a bionic robotic ankle driven by multiple pneumatic muscle actuators. The structural design of the bionic robotic ankle and the drive mechanism that imitates human muscle recruitment are introduced. A dynamic model of the ankle and a static model of the pneumatic muscle actuator are established to analyze the driving characteristics. The multi-muscle recruiting strategy and load matching control method are optimized, and the output characteristics are simulated, including the robotic ankle driven by a single pneumatic muscle actuator, the robotic ankle driven by dual pneumatic muscle actuators, and the bionic ankle driven by multiple pneumatic muscle actuators. A prototype and testing platform are developed, and experimental research is carried out to validate the theoretical analysis and simulation. The results show that the bionic robotic ankle driven by multiple pneumatic muscle actuators can match varied loads, effectively reducing angle error and increasing output force.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"4 4","pages":"Article 100176"},"PeriodicalIF":0.0,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142318752","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