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2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献

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Multi-Manipulator Motion Planning based on Gaussian Process with Probabilistic Inference 基于概率推理高斯过程的多机械臂运动规划
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903928
Wenlong Wang, Biao Hu
{"title":"Multi-Manipulator Motion Planning based on Gaussian Process with Probabilistic Inference","authors":"Wenlong Wang, Biao Hu","doi":"10.1109/WRCSARA57040.2022.9903928","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903928","url":null,"abstract":"In this paper, we study the problem of using Gaussian process motion planning to plan the motion of a multi-manipulator. The DH (Denavit Hartenberg) method is used to establish the kinematic model of the multi-manipulator system. The GPMP2 algorithm is extended to the case of multi-manipulators, and constraints are added to the factor graph to avoid mutual collision between arms and limit the range, speed, and acceleration of joints. Because the GPMP2 algorithm does not include acceleration prior, we convert the limitation of acceleration into a speed limitation. Depending on the actual conditions of the different arms in the system, different constraints are imposed, which can better realize the cooperation between multi-manipulators. The optimized method is more reliable in solving the actual motion planning problem. Simulation results demonstrate the high effectiveness and feasibility of this method.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126657745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
WRC SARA 2022 Author Index WRC SARA 2022作者索引
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/wrcsara57040.2022.9903979
{"title":"WRC SARA 2022 Author Index","authors":"","doi":"10.1109/wrcsara57040.2022.9903979","DOIUrl":"https://doi.org/10.1109/wrcsara57040.2022.9903979","url":null,"abstract":"","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114724436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Immersive Human-Robot Interaction for Dexterous Manipulation in Minimally Invasive Procedures 微创手术中灵巧操作的沉浸式人机交互
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903967
Jiawei Yu, Tengyue Wang, Zhenyu Zong, Liangjing Yang
{"title":"Immersive Human-Robot Interaction for Dexterous Manipulation in Minimally Invasive Procedures","authors":"Jiawei Yu, Tengyue Wang, Zhenyu Zong, Liangjing Yang","doi":"10.1109/WRCSARA57040.2022.9903967","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903967","url":null,"abstract":"Interaction between humans and robots is inevitable in robotic surgeries. The purpose of this work is to enhance human-robot interaction for computer-assisted minimally invasive surgeries through immersive technology. Our developed system includes a robotic manipulator designed to perform minimally invasive surgeries and a mixed reality-based interface that facilitates immersive interaction between a human operator and a collaborative robot. The system provides visual and dexterous augmentation through the immersive projection of the endoscopic view in proximity to the surgical site and a virtual remote-center-of-motion (RCM) intuitively specified by the users. Experimental observation demonstrated sub-millimeter and sub-degree accuracy between the spatial representation of the physical robot and its virtual model. Safety design and robot intelligence to enhance the interaction between humans and robots via MR technology will further be developed to prepare the technology for actual clinical use in the long run.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129311534","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Tip Motion Control and Vibration Suppression of Flexible Manipulator with Controllable Damping 可控阻尼柔性机械臂尖端运动控制与振动抑制
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903923
Yingying Gao, Xiaocong Zhu, Jian Cao, S. Song
{"title":"Tip Motion Control and Vibration Suppression of Flexible Manipulator with Controllable Damping","authors":"Yingying Gao, Xiaocong Zhu, Jian Cao, S. Song","doi":"10.1109/WRCSARA57040.2022.9903923","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903923","url":null,"abstract":"The flexible manipulator is widely used in many fields due to its advantages of light weight, fast response, and low energy consumption. However, due to the flexible structure of the flexible manipulator, it is easy to generate tip vibration, and difficult to achieve high-speed and high-precision motion control. In this paper, the dynamics model of the flexible manipulator system with controllable damping is established based on the Lagrange method and damping force constraining equation. Using the singular perturbation principle, the dynamics model is decomposed into fast and slow subsystems, where the slow subsystem represents the large-scale rigid motion, and the fast subsystem represents the small-scale vibration. A two-time scale composite control strategy is proposed, which consists of an adaptive robust controller for the slow system and a LQR controller for the fast system, to achieve tip vibration suppression and precise motion control. Through simulation, the effectiveness of the two-time scale control strategy of the flexible manipulator system with controllable damping is proved.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131583076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Model predictive control for a musculoskeletal robot with motor driven artificial muscle 带马达驱动人工肌肉的肌肉骨骼机器人模型预测控制
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903929
Weiying Wan, Linghuan Kong, W. He
{"title":"Model predictive control for a musculoskeletal robot with motor driven artificial muscle","authors":"Weiying Wan, Linghuan Kong, W. He","doi":"10.1109/WRCSARA57040.2022.9903929","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903929","url":null,"abstract":"This work develops the model predictive control (MPC) for an upper limb musculoskeletal robot model. Firstly, the numerical relationship between muscle force and bone joints is obtained, and then the control structure is designed on the basis of the joint torque and joint angles. Due to the nonlinearity of the control object, we linearize it using a feedback linearization method. Secondly, a model predictive controller is designed to obtain the linearized model. By analyzing the second-order closed-loop control system, the parameters can be adjusted to obtain a better performance. The control goal of this paper is to make a musculoskeletal robot track the desired trajectory. Simulation results verify that the designed controller is validated.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127770299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on UAV Online Visual Tracking Algorithm based on YOLOv5 and FlowNet2 for Apple Yield Inspection* 基于YOLOv5和FlowNet2的苹果产量检测无人机在线视觉跟踪算法研究
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903925
Shaopeng Wang, Xiaodong Zhang, Haiming Shen, Minxuan Tian, Mingyang Li
{"title":"Research on UAV Online Visual Tracking Algorithm based on YOLOv5 and FlowNet2 for Apple Yield Inspection*","authors":"Shaopeng Wang, Xiaodong Zhang, Haiming Shen, Minxuan Tian, Mingyang Li","doi":"10.1109/WRCSARA57040.2022.9903925","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903925","url":null,"abstract":"Accurate monitoring of fruit quantity in apple orchards will allow growers to manage their orchards more efficiently, leading to higher yields. In addition, the rapid and accurate inspection of fruit in the orchard is also one of the basic technologies needed for smart agriculture. This paper proposes a real-time method for apple tracking and yield estimation. UAV carrying RGB camera is used as an inspection platform, which analyzes the video in real time during the inspection. The algorithm is built according to the Tracking-by-Detecting framework, where YOLOV5 target detection model is used to obtain apples’ exact position. Meanwhile, the apples’ position in next frame is estimated according to the optical flow calculated from FlowNet2 model. Then, the predicted position and detected position is matched by the Hungarian algorithm. A dataset close to the actual situation in the orchard is constructed to verify the effectiveness of the proposed method. To improve the detection accuracy of apple under actual scene, the data enhancement strategy of random occlusion and mosaic enhancement is used for model training. As a result, the accuracy of apple detection achieved by the algorithm in this paper is 85.5%, which is 11% higher than previous studies. Besides, it can keep well tracking of detected apples even under the influence of complex occlusion or other factors, and achieve an accuracy of 90.39% in apple yield estimation. More importantly, this algorithm can reach a speed of 20FPS on the experimental platform, which meets the real-time requirements of UAV inspection.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129078681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Equilateral Triangular Formation of Unmanned Surface Vehicles for Target Tracking with Collision Avoidance* 面向避碰目标跟踪的无人水面车辆等边三角形编队
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903969
Guohu Qian, Xiang Zheng, Jianhua Wang, Zhigang Xie, Qiwen Wu, Wei Xu
{"title":"Equilateral Triangular Formation of Unmanned Surface Vehicles for Target Tracking with Collision Avoidance*","authors":"Guohu Qian, Xiang Zheng, Jianhua Wang, Zhigang Xie, Qiwen Wu, Wei Xu","doi":"10.1109/WRCSARA57040.2022.9903969","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903969","url":null,"abstract":"In this paper, the problem of collaborative tracking of a surface target with multiple unmanned surface vehicles (USVs) is studied. Distance-based formation tracking control with collision avoidance is employed to encompass the target with the USVs in the desired formation. An additional term, the “rotational force” is introduced to the control law so that the formation achieves a desired relative orientation while tracking the target in order to avoid collisions between the USVs and the target. The effectiveness of the proposed control law for avoiding collisions between the USVs and the target and the convergence property are shown by simulation.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117107730","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Screw Theory-Based Approach for Conservative Stiffness Mapping of 3-PRS Parallel Mechanism 基于螺杆理论的3-PRS并联机构保守刚度映射方法
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903927
Yiwei Ma, Yuandong Tian, Yongbin Song
{"title":"A Screw Theory-Based Approach for Conservative Stiffness Mapping of 3-PRS Parallel Mechanism","authors":"Yiwei Ma, Yuandong Tian, Yongbin Song","doi":"10.1109/WRCSARA57040.2022.9903927","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903927","url":null,"abstract":"This study presents a hierarchical semi-analytical approach for conservative stiffness modeling of the 3-PRS parallel mechanism based on the screw theory. Firstly, considering all the elastic links and joints, the compact explicit stiffness expression is derived based on the tensor transformation between local compliance matrices and global compliance. Then, the conservative stiffness mapping is formulated by taking the change of geometry of the mechanism due to the external forces into account. Finally, the results obtained from the analysis of a type of Z3 head show that the discrepancy between the proposed model and the Finite Element Analysis (FEA) model is lower than 8.21%, demonstrating the proposed model’s accuracy and effectiveness. The proposed model is hugely efficient for predicting the distributions of stiffness performances within the entire workspace and guiding the optimal functional design at the initial conceptual design stage.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121031029","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
WRC SARA 2022 Cover Page WRC SARA 2022封面页
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/wrcsara57040.2022.9903975
{"title":"WRC SARA 2022 Cover Page","authors":"","doi":"10.1109/wrcsara57040.2022.9903975","DOIUrl":"https://doi.org/10.1109/wrcsara57040.2022.9903975","url":null,"abstract":"","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124855036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Review of Research on Falling Cat Phenomenon and Development of Bio-Falling Cat Robot 坠猫现象研究综述及生物坠猫机器人的研制
2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903971
Jian Cao, Shanbo Wang, Xiaocong Zhu, Lei Song
{"title":"A Review of Research on Falling Cat Phenomenon and Development of Bio-Falling Cat Robot","authors":"Jian Cao, Shanbo Wang, Xiaocong Zhu, Lei Song","doi":"10.1109/WRCSARA57040.2022.9903971","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903971","url":null,"abstract":"With the increasing demand of robots operating in three-dimensional and high-altitude environments, it is significant for the research on high altitude falling and safe landing of robot. This paper focuses on the “falling cat phenomenon” and the development of turning over principle of bio-cat falling. In view of structural models for the cat falling turning over with “Legs in-legs out”, “Tail turning theory”, “Tuck and turn” and “Multi-rigid-body theory” etc., important issues on the structure design, virtual prototype simulation and control design of bio-falling cat robot are comprehensively reviewed, and the development trend of the bio-cat falling robot applied to the safe landing at high altitude is pointed out.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122062324","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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