IEEE Robotics and Automation Letters最新文献_第6页

Knee Exoskeleton-Enabled Balance Control of Human Walking Gait With Unexpected Foot Slip 膝关节外骨骼平衡控制人意外脚滑步态

IF 5.2 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2023-10-04 DOI: 10.1109/LRA.2023.3322082

Chunchu Zhu;Jingang Yi

{"title":"Knee Exoskeleton-Enabled Balance Control of Human Walking Gait With Unexpected Foot Slip","authors":"Chunchu Zhu;Jingang Yi","doi":"10.1109/LRA.2023.3322082","DOIUrl":"https://doi.org/10.1109/LRA.2023.3322082","url":null,"abstract":"Foot slip is one of the leading causes of fall-related injuries during human walking. The underlying slip dynamics help understand bipedal recoverability under gait perturbation and therefore provide a tool to design proactive slip-induced fall prevention strategies. We present a new integrated wearable sensing and exoskeleton-enabled fall prevention under unexpected foot slip. The real-time slip detection is realized with a set of small, wearable inertial measurements units on both legs. We use the balance recoverability and inter-limb coordination analyses to design the balance recovery strategies. The bilateral knee exoskeleton provides assistive torque control and helps walker to follow the designed gait recovery strategies. Multiple subject experiments are presented to demonstrate the exoskeleton-enabled recovery under foot slip. Various critical metrics, including slip distance, velocity, swing leg touch-down time, are systematically compared to assess the efficacy of both the exoskeleton and the controller. The results confirm that incorporating knee exoskeletons as a balance recovery method for human walking is a reliable and robust approach to mitigate or prevent slip-induced falls.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"8 11","pages":"7751-7758"},"PeriodicalIF":5.2,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50247660","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Combining Tail and Reaction Wheel for Underactuated Spatial Reorientation in Robot Falling With Quadratic Programming 尾部与反作用轮相结合的二次规划下落机器人欠驱动空间重定向

IF 5.2 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2023-10-04 DOI: 10.1109/LRA.2023.3322079

Xiangyu Chu;Shengzhi Wang;Raymond Ng;Chun Yin Fan;Jiajun An;K. W. Samuel Au

{"title":"Combining Tail and Reaction Wheel for Underactuated Spatial Reorientation in Robot Falling With Quadratic Programming","authors":"Xiangyu Chu;Shengzhi Wang;Raymond Ng;Chun Yin Fan;Jiajun An;K. W. Samuel Au","doi":"10.1109/LRA.2023.3322079","DOIUrl":"https://doi.org/10.1109/LRA.2023.3322079","url":null,"abstract":"Inertial appendages (e.g., tails and reaction wheels) have shown their reorientation capability to enhance robots' mobility while airborne or improve robots' safety in falling. The tail, especially with two Degrees of Freedom (DoFs), is normally subject to its limited Range of Motion (RoM). Although the reaction wheel circumvents this limitation, its efficiency has been shown lower than the tail in terms of inducing Moment of Inertia (MoI). In literature, only one type of inertial appendages has been used on terrestrial robots in the air, e.g., either using a tail on the hexapedal robot RHex or using a reaction wheel on the jumping quadruped robot SpaceBok. In this letter, to benefit from both unlimited RoM and efficient MoI-inducing, we propose combining a 1-DoF tail and a reaction wheel together for spatial reorientation (regulating the robot body's 3D orientation). Inspired by this, a hybrid tail-wheel robot is built, i.e., the tail that creates roll motion is attached to a wheel-equipped robot whose wheels act like a reaction wheel and generate pitch rotation; however, the robot is underactuated on the yaw rotation. To achieve its real-time spatial reorientation, we propose a novel quadratic programming algorithm based on a geometric metric for the underactuated hybrid tail-wheel robot. Within the proposed algorithm, the physical limitations on tail and wheel velocities are automatically accommodated. Numerical comparisons among wheel-wheel, tail-wheel, and 2-DoF tail robots showed the strength of the hybrid tail-wheel appendage on reorientation convergence and free of collision. Experimental results further demonstrated the capability of real-time spatial reorientation with underactuation and velocity constraints by using the combined tail-wheel inertial appendage.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"8 11","pages":"7783-7790"},"PeriodicalIF":5.2,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50247893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

On the Optimality, Stability, and Feasibility of Control Barrier Functions: An Adaptive Learning-Based Approach 关于控制障碍函数的最优性、稳定性和可行性：一种基于自适应学习的方法

IF 5.2 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2023-10-04 DOI: 10.1109/LRA.2023.3322088

Alaa Eddine Chriat;Chuangchuang Sun

{"title":"On the Optimality, Stability, and Feasibility of Control Barrier Functions: An Adaptive Learning-Based Approach","authors":"Alaa Eddine Chriat;Chuangchuang Sun","doi":"10.1109/LRA.2023.3322088","DOIUrl":"https://doi.org/10.1109/LRA.2023.3322088","url":null,"abstract":"Safety has been a critical issue for the deployment of learning-based approaches in real-world applications. To address this issue, control barrier function (CBF) and its variants have attracted extensive attention for safety-critical control. However, due to the myopic one-step nature of CBF and the lack of principled methods to design the class-\u0000<inline-formula><tex-math>$mathcal {K}$</tex-math></inline-formula>\u0000 functions, there are still fundamental limitations of current CBFs: optimality, stability, and feasibility. In this letter, we proposed a novel and unified approach to address these limitations with Adaptive Multi-step Control Barrier Function (AM-CBF), where we parameterize the class-\u0000<inline-formula><tex-math>$mathcal {K}$</tex-math></inline-formula>\u0000 function by a neural network and train it together with the reinforcement learning policy. Moreover, to mitigate the myopic nature, we propose a novel \u0000<italic>multi-step training and single-step execution</i>\u0000 paradigm to make CBF farsighted while the execution remains solving a single-step convex quadratic program. Our method is evaluated on the first and second-order systems in various scenarios, where our approach outperforms the conventional CBF both qualitatively and quantitatively.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"8 11","pages":"7865-7872"},"PeriodicalIF":5.2,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50248259","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots CIDGIKc:连续体机器人的距离几何逆运动学

IF 5.2 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2023-10-04 DOI: 10.1109/LRA.2023.3322078

Hanna Jiamei Zhang;Matthew Giamou;Filip Marić;Jonathan Kelly;Jessica Burgner-Kahrs

{"title":"CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots","authors":"Hanna Jiamei Zhang;Matthew Giamou;Filip Marić;Jonathan Kelly;Jessica Burgner-Kahrs","doi":"10.1109/LRA.2023.3322078","DOIUrl":"https://doi.org/10.1109/LRA.2023.3322078","url":null,"abstract":"The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make them well suited for constrained environments. Solving the inverse kinematics (IK), that is finding robot joint configurations that satisfy desired position or pose queries, is a fundamental challenge in motion planning, control, and calibration for any robot structure. For CRs, the need to avoid obstacles in tightly confined workspaces greatly complicates the search for feasible IK solutions. Without an accurate initialization or multiple re-starts, existing algorithms often fail to find a solution. We present \u0000<monospace>CIDGIKc</monospace>\u0000 (Convex Iteration for Distance-Geometric Inverse Kinematics for Continuum Robots), an algorithm that solves these nonconvex feasibility problems with a sequence of semidefinite programs whose objectives are designed to encourage low-rank minimizers. \u0000<monospace>CIDGIKc</monospace>\u0000 is enabled by a novel distance-geometric parameterization of constant curvature segment geometry for CRs with extensible segments. The resulting IK formulation involves only quadratic expressions and can efficiently incorporate a large number of collision avoidance constraints. Our experimental results demonstrate >98% solve success rates within complex, highly cluttered environments which existing algorithms cannot account for.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"8 11","pages":"7679-7686"},"PeriodicalIF":5.2,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50387292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Proprioceptive-Based Whole-Body Disturbance Rejection Control for Dynamic Motions in Legged Robots 腿机器人动态运动的基于本体感知的全身抗扰控制

IF 5.2 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2023-10-04 DOI: 10.1109/LRA.2023.3322081

Zhengguo Zhu;Guoteng Zhang;Zhongkai Sun;Teng Chen;Xuewen Rong;Anhuan Xie;Yibin Li

引用次数: 0

Learning Sampling Dictionaries for Efficient and Generalizable Robot Motion Planning With Transformers 学习采样字典用于具有变换器的高效通用机器人运动规划

IF 5.2 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2023-10-04 DOI: 10.1109/LRA.2023.3322087

Jacob J. Johnson;Ahmed H. Qureshi;Michael C. Yip

{"title":"Learning Sampling Dictionaries for Efficient and Generalizable Robot Motion Planning With Transformers","authors":"Jacob J. Johnson;Ahmed H. Qureshi;Michael C. Yip","doi":"10.1109/LRA.2023.3322087","DOIUrl":"https://doi.org/10.1109/LRA.2023.3322087","url":null,"abstract":"Motion planning is integral to robotics applications such as autonomous driving, surgical robots, and industrial manipulators. Existing planning methods lack scalability to higher-dimensional spaces, while recent learning-based planners have shown promise in accelerating sampling-based motion planners (SMP) but lack generalizability to out-of-distribution environments. To address this, we present a novel approach, Vector Quantized-Motion Planning Transformers (VQ-MPT) that overcomes the key generalization and scaling drawbacks of previous learning-based methods. VQ-MPT consists of two stages. Stage 1 is a Vector Quantized-Variational AutoEncoder model that learns to represent the planning space using a finite number of sampling distributions, and stage 2 is an Auto-Regressive model that constructs a sampling region for SMPs by selecting from the learned sampling distribution sets. By splitting large planning spaces into discrete sets and selectively choosing the sampling regions, our planner pairs well with out-of-the-box SMPs, generating near-optimal paths faster than without VQ-MPT's aid. It is generalizable in that it can be applied to systems of varying complexities, from 2D planar to 14D bi-manual robots with diverse environment representations, including costmaps and point clouds. Trained VQ-MPT models generalize to environments unseen during training and achieve higher success rates than previous methods.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"8 12","pages":"7946-7953"},"PeriodicalIF":5.2,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50297611","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Efficient and Robust Time-Optimal Trajectory Planning and Control for Agile Quadrotor Flight 敏捷四旋翼飞行的高效鲁棒时间最优轨迹规划与控制

IF 5.2 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2023-10-04 DOI: 10.1109/LRA.2023.3322075

Ziyu Zhou;Gang Wang;Jian Sun;Jikai Wang;Jie Chen

{"title":"Efficient and Robust Time-Optimal Trajectory Planning and Control for Agile Quadrotor Flight","authors":"Ziyu Zhou;Gang Wang;Jian Sun;Jikai Wang;Jie Chen","doi":"10.1109/LRA.2023.3322075","DOIUrl":"https://doi.org/10.1109/LRA.2023.3322075","url":null,"abstract":"Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on the full quadrotor dynamics (typically on the order of minutes or even hours) can hinder its ability to respond quickly to changing scenarios. Additionally, modeling errors and external disturbances can lead to deviations from the desired trajectory during tracking in real time. This letter proposes a novel approach to computing time-optimal trajectories, by fixing the nodes with waypoint constraints and adopting separate sampling intervals for trajectories between waypoints, which significantly accelerates trajectory planning. Furthermore, the planned paths are tracked via a time-adaptive model predictive control scheme whose allocated tracking time can be adaptively adjusted on-the-fly, therefore enhancing the tracking accuracy and robustness. We evaluate our approach through simulations and experimentally validate its performance in dynamic waypoint scenarios for time-optimal trajectory replanning and trajectory tracking.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"8 12","pages":"7913-7920"},"PeriodicalIF":5.2,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50297936","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Modeling and MPC-Based Pose Tracking for Wheeled Bipedal Robot 轮式两足机器人的建模与MPC姿态跟踪

IF 5.2 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2023-10-04 DOI: 10.1109/LRA.2023.3322084

Jianqiao Yu;Zhangzhen Zhu;Junyuan Lu;Sicheng Yin;Yu Zhang

引用次数: 1

R-LIOM: Reflectivity-Aware LiDAR-Inertial Odometry and Mapping R-LIOM：反射感知激光雷达惯性里程测量和测绘

IF 5.2 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2023-10-04 DOI: 10.1109/LRA.2023.3322073

Yanchao Dong;Lingxiao Li;Sixiong Xu;Wenxuan Li;Jinsong Li;Yahe Zhang;Bin He

{"title":"R-LIOM: Reflectivity-Aware LiDAR-Inertial Odometry and Mapping","authors":"Yanchao Dong;Lingxiao Li;Sixiong Xu;Wenxuan Li;Jinsong Li;Yahe Zhang;Bin He","doi":"10.1109/LRA.2023.3322073","DOIUrl":"https://doi.org/10.1109/LRA.2023.3322073","url":null,"abstract":"With the advent of solid-state LiDAR, a series of related studies have boosted the development of Simultaneous Localization and Mapping (SLAM). However, existing methods cannot work well in indoor environments. In the letter, the reflectivity measurement of the solid-state LiDAR is exploited to improve the performance of LiDAR-Inertial Odometry and Mapping (LIOM). Firstly, a high-resolution pseudo image generation method utilizing the reflectivity measurement is proposed. With that, pseudo-visual place recognition based on point and line features is proposed for facilitating a robust and effective loop detection. Thereafter, the superkeyframe, made of scan data, point context and pseudo-visual image, and the corresponding global factor graph is presented, which gives the capability of map maintenance. Thereby, the accumulated error could be significantly reduced by timely loop detection and superkeyframe-based optimation. Additionally, the reflectivity measurement is also employed to refine residual computation and local mapping modules. Validation experiments show the effectiveness of the proposed R-LIOM system.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"8 11","pages":"7743-7750"},"PeriodicalIF":5.2,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50247663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Safe Non-Stochastic Control of Control-Affine Systems: An Online Convex Optimization Approach 控制仿射系统的安全非随机控制：一种在线凸优化方法

IF 5.2 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2023-10-04 DOI: 10.1109/LRA.2023.3322090

Hongyu Zhou;Yichen Song;Vasileios Tzoumas

{"title":"Safe Non-Stochastic Control of Control-Affine Systems: An Online Convex Optimization Approach","authors":"Hongyu Zhou;Yichen Song;Vasileios Tzoumas","doi":"10.1109/LRA.2023.3322090","DOIUrl":"https://doi.org/10.1109/LRA.2023.3322090","url":null,"abstract":"We study how to safely control nonlinear control-affine systems that are corrupted with bounded \u0000<italic>non-stochastic noise</i>\u0000, i.e., noise that is unknown a priori and that is \u0000<underline>not</u>\u0000 necessarily governed by a stochastic model. We focus on safety constraints that take the form of time-varying convex constraints such as collision-avoidance and control-effort constraints. We provide an algorithm with bounded \u0000<italic>dynamic regret</i>\u0000, i.e., bounded suboptimality against an optimal clairvoyant controller that knows the realization of the noise a priori. We are motivated by the future of autonomy where robots will autonomously perform complex tasks despite real-world unpredictable disturbances such as wind gusts. To develop the algorithm, we capture our problem as a sequential game between a controller and an adversary, where the controller plays first, choosing the control input, whereas the adversary plays second, choosing the noise's realization. The controller aims to minimize its cumulative tracking error despite being unable to know the noise's realization a priori. We validate our algorithm in simulated scenarios of (i) an inverted pendulum aiming to stay upright, and (ii) a quadrotor aiming to fly to a goal location through an unknown cluttered environment.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"8 12","pages":"7873-7880"},"PeriodicalIF":5.2,"publicationDate":"2023-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50280354","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0