Biomimetic Intelligence and Robotics最新文献_第7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 : 2025-03-01 Epub 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

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 : 2025-03-01 Epub 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

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 : 2025-03-01 Epub 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

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 : 2025-03-01 Epub Date: 2024-11-14 DOI: 10.1016/j.birob.2024.100193

Ziwu Ren, Zhongyuan Wang, Xiaohan Liu, Rui Lin

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 : 2025-03-01 Epub Date: 2024-10-18 DOI: 10.1016/j.birob.2024.100188

Kaidi Zhu, Tim C. Lueth, Yilun Sun

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 : 2025-03-01 Epub 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":"2025-03-01","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

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 : 2024-12-01 Epub 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":"2024-12-01","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

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 : 2024-12-01 Epub 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":"2024-12-01","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

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 : 2024-12-01 Epub 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":"2024-12-01","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

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 : 2024-12-01 Epub 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