2022 International Conference on Service Robotics (ICoSR)最新文献_第3页

Inspection Robot Design for Underwater Structure in Complex Flow Environment 复杂流动环境下水下结构物检测机器人设计

2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00043

Xu Wang, Tong Luo, Yong Lei

引用次数: 0

High-speed Maglev System on A Straight Guideway Against Stochastic Stability 基于随机稳定性的直线导轨高速磁悬浮系统

2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00048

Yanxia Li

引用次数: 0

Impedance control of space robot based on adaptive terminal sliding mode trajectory tracking 基于自适应终端滑模轨迹跟踪的空间机器人阻抗控制

2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00037

Song Wang, Shuquan Wang

引用次数: 0

Hybrid force/impedance control method for ultrasound robot based on three-dimensional modeling 基于三维建模的超声机器人力/阻抗混合控制方法

2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00038

Xia Jing, Yun Guanghui, Deng Fu, Liu Zhen

{"title":"Hybrid force/impedance control method for ultrasound robot based on three-dimensional modeling","authors":"Xia Jing, Yun Guanghui, Deng Fu, Liu Zhen","doi":"10.1109/ICoSR57188.2022.00038","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00038","url":null,"abstract":"The ultrasound robot not only needs to be able to maintain stable contact forces in the direction of the scan check normal in unknown or complex environments, but also needs to maintain safe human-robot interaction forces in other directions, and at the same time needs to satisfied the constraints of avoiding joint limits. In response to the above control requirements, this paper proposes a hybrid force/impedance control method for ultrasound robots based on three-dimensional modeling, which performs indirect force impedance control in the scan tangential direction of the ultrasound robot, and direct force control in the scan normal direction maintains stable contact forces between the ultrasound probe and human tissue, and introducing environmental three-dimensional point cloud information for scan normal position compensation. This improves the force control performance of the ultrasound robot in unknown environments. The tangential impedance control reduces the tangential contact force generated by the scanning motion of the robot and prevents the physical injury to the patient. The weighted minimum parametric number is also introduced into the hybrid force/impedance control to optimize the motion of the null space of the ultrasound robot and avoid the ultrasound robot from entering the joint limit in the contact interaction control. Finally the effectiveness and reliability of the proposed method is verified by ultrasound robot experiments.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122131162","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

Modeling of Autonomous Burrowing Mole-type Robot Drilling into Lunar Regolith 自主挖洞鼹鼠型机器人钻入月球风化层的建模

2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00030

Zihao Yuan, Ruinan Mu, Jiafeng Yang, Ke Wang, Haifeng Zhao

{"title":"Modeling of Autonomous Burrowing Mole-type Robot Drilling into Lunar Regolith","authors":"Zihao Yuan, Ruinan Mu, Jiafeng Yang, Ke Wang, Haifeng Zhao","doi":"10.1109/ICoSR57188.2022.00030","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00030","url":null,"abstract":"A reduced-order model is proposed to simulate the drilling and steering processing of an autonomous burrowing mole to access scientific samples from the deep subsurface of the Moon. The characteristic parameters of the locomotive module are considered including the length, cross-section diameter and centroid of a rigid rod. Based on the classical mechanics, a dynamic model for the locomotion of autonomous device underground is developed. By introducing the contact algorithm and resistive force theory, the interaction scheme between the locomotive body and regolith is described. The simulation results show that this method may model the directional drilling motions in the lunar subsurface environments. In addition, its full-3D behavior is also built by the coupled Eulerian and Lagrangian finite element method for the design purpose. Finally, the prototype of the steering mechanism is developed and validated. Overall, this robotic concept may provide intuitive inputs to enable the space missions of a drilling robot to obtain subsurface samples in an extraterrestrial planet, such as the Moon or Mars, etc.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134507220","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

Accurate and Efficient Multi-robot Collaborative Stereo SLAM for Mars Exploration 精确高效的多机器人协同立体SLAM火星探测

2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00031

Yuanbin Shao, Yadong Shao, Xue Wan

{"title":"Accurate and Efficient Multi-robot Collaborative Stereo SLAM for Mars Exploration","authors":"Yuanbin Shao, Yadong Shao, Xue Wan","doi":"10.1109/ICoSR57188.2022.00031","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00031","url":null,"abstract":"In recent years, planetary exploration has received a lot of attention in the aerospace field, and Mars is favored because of its cosmic environment that is very similar to the Earth. So far, human have sent six rovers and a helicopter to Mars. However, the GNSS global navigation system is unavailable on Mars, and there is a communication delay of 7 to 45 minutes between the Earth and Mars, which poses a huge challenge to the autonomous navigation and obstacle avoidance of the Mars robot. At the same time, the current exploration is carried out by a single robot, so the exploration range is limited. Multi-robot collaboration can improve the efficiency and robustness of planetary task execution. Multi-robot collaborative Simultaneous Localization and Mapping (SLAM) is conducive to enhancing the localization and mapping capabilities of robots. To achieve the goal, we propose an accurate and efficient Multi-robot collaborative stereo SLAM(MCS-SLAM). While ensuring that each robot works independently, MCS-SLAM collects the robot's localization and mapping results to the server through wireless communication, and completes the fusion optimization of multi-robot's localization and mapping data on the server. We generated six sets of image data, which were respectively captured by the stereo cameras carried by the simulated three rovers and three UAVs. Considering the limited CPU performance of Mars robot's computing device, we conducted experiments on Nvidia's edge computing equipment. The experimental results show that MCS-SLAM achieves real-time localization effects of 6fps and 10fps on Jeston TX2 and Jeston Xavier. Overall, when only stereo cameras are configured for collaborative work, the localization accuracy of the rover team and the UAV team reached 1.97m and 0.89m, respectively, and the average localization accuracy of 100 meters was 0.36m and 0.17m.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"3 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132758423","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

Multi-objective Optimization for Task Assignment of Satellite Swarm with Configuration Design 基于构型设计的卫星群任务分配多目标优化

2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00022

Jiaxuan Wang, Q. Jia, Yuqiang Liu, Tong Li, Hong You

{"title":"Multi-objective Optimization for Task Assignment of Satellite Swarm with Configuration Design","authors":"Jiaxuan Wang, Q. Jia, Yuqiang Liu, Tong Li, Hong You","doi":"10.1109/ICoSR57188.2022.00022","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00022","url":null,"abstract":"The satellite swarm encirclement task is not only constrained by the task time, task consumption and other constraints, but also constrained by the security of the sub satellite in swarm. Therefore, a reasonable assignment plan must be carried out to ensure the smooth progress of the task. In this paper, a configuration design method of capture location considering the security and uniformity of satellite swarm is proposed, which includes a bounded spherical uniform envelope and a repulsion field function model. Then, taking the task execution time, orbit change energy consumption and spacecraft task efficiency as optimization objectives, the multi-objective satellite swarm task assignment problem is studied. Finally, simulation experiments are carried out for the capture scene under the conditions of coplanar and nonplanar orbits. Experiments show that the task assignment method can ensure that all sub satellites can effectively capture non-cooperative target at the same time, meet the adaptability of satellites with different task functions to the location, and optimize the overall energy consumption. In addition, the distribution of satellites around non-cooperative target has good uniformity and security.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131685651","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

Development and Experimental Testing of a Robot-Assisted Positioning System for Brachytherapy 近距离治疗机器人辅助定位系统的研制与实验测试

2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00026

Jie Liang, Jing Wang, Xiao-jing Liu, Sanmiao Zhao

引用次数: 0

Design and Implementation of Articulated Rail Robot for Bridge Bottom Inspection 桥梁底部检测铰接式轨道机器人的设计与实现

2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00045

Wanjun Hao, Ning Ding, Min Zhao, Lin Zhang, Chao Wang, De-Ge Li

引用次数: 0

Modelling and simulation of AMT shift actuator AMT换挡机构建模与仿真

2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00042

Zhong-Kang Wei, Yousheng Yang, Wei Zhang, Meng Zhang, Haoliang Sun

引用次数: 0