Int. J. Humanoid Robotics最新文献_第4页

Investigation of Intelligent Substation Inspection Robot by Using Mobile Data 基于移动数据的智能变电站巡检机器人研究

Int. J. Humanoid Robotics Pub Date : 2022-03-01 DOI: 10.1142/s0219843622400035

Zhixian Qin, Zhao Xu, Q. Sun, Parthasarathy Poovendran, P. Balamurugan

引用次数: 1

Collision Reduction Walking for Lower Limb Exoskeletons 下肢外骨骼减少碰撞行走

Int. J. Humanoid Robotics Pub Date : 2022-03-01 DOI: 10.1142/s0219843622500049

Long Zhang, Chaobin Zou, Guangkui Song, Hong Cheng, Rui Huang, Jing Qiu

引用次数: 0

Learning-Based Motion Planning of a 14-DOF Biped Robot on 3D Uneven Terrain Containing a Ditch 基于学习的14自由度双足机器人在含沟渠的非平坦地形上的运动规划

Int. J. Humanoid Robotics Pub Date : 2022-01-18 DOI: 10.1142/s0219843621500183

J. Kumar, A. Dutta

引用次数: 1

Improving Dialog System Grounded with Unstructured Knowledge by Domain Adaptive Pre-Training and Post-Ranking 基于领域自适应预训练和后排序的非结构化知识对话系统改进

Int. J. Humanoid Robotics Pub Date : 2022-01-18 DOI: 10.1142/s0219843621500195

Zhiguo Zeng, K. Lam, Chi-Yin Chow, Ning Li

引用次数: 0

Reducing Anthropomorphic Hand Degrees of Actuation with Grasp-Function-Dependent and Joint-Element-Sparse Hand Synergies 基于抓握功能依赖和关节元素稀疏手协同效应的拟人化手驱动度降低

Int. J. Humanoid Robotics Pub Date : 2022-01-17 DOI: 10.1142/s0219843621500171

Bingchen Liu, Li Jiang, S. Fan

{"title":"Reducing Anthropomorphic Hand Degrees of Actuation with Grasp-Function-Dependent and Joint-Element-Sparse Hand Synergies","authors":"Bingchen Liu, Li Jiang, S. Fan","doi":"10.1142/s0219843621500171","DOIUrl":"https://doi.org/10.1142/s0219843621500171","url":null,"abstract":"In this paper, a set of grasp-function-dependent and joint-element-sparse hand synergies was proposed. First, hand synergies were extracted from five basic categories of movements by principal component analysis (PCA). Then, varimax rotation was applied on these synergies, so each sparse synergy only represented a limited number of joints. Next, according to the contribution to these sparse synergies, finger joints were clustered into different joint modules. Finally, integrating the joint modules in different categories of hand movements, the minimum number of actuators and joint synergic modules for anthropomorphic hands were determined. The results showed that using 5 groups of joint modules and 7–9 actuators we can achieve the best performance of grasp function and motion flexibility. Furthermore, through the reasonable design of adaptive and hyperextension functional joint modules, anthropomorphic hands can better meet the requirements of different tasks like power grasping and precision pinching. Comparing with traditional finger-based actuation strategy, the joint coupling scheme achieved better anthropomorphic performance and larger workspace. These above findings will benefit the development of mechanical structure design and control method of anthropomorphic hands.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114974111","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 Nonlinear Optimal Control Approach for Multi-DOF Brachiation Robots 多自由度悬架机器人的非线性最优控制方法

Int. J. Humanoid Robotics Pub Date : 2021-11-15 DOI: 10.1142/s0219843621500158

G. Rigatos, M. Abbaszadeh, K. Busawon, Zhiwei Gao, J. Pomares

{"title":"A Nonlinear Optimal Control Approach for Multi-DOF Brachiation Robots","authors":"G. Rigatos, M. Abbaszadeh, K. Busawon, Zhiwei Gao, J. Pomares","doi":"10.1142/s0219843621500158","DOIUrl":"https://doi.org/10.1142/s0219843621500158","url":null,"abstract":"This paper proposes a nonlinear optimal control approach for mulitple degrees of freedom (DOF) brachiation robots, which are often used in inspection and maintenance tasks of the electric power grid. Because of the nonlinear and multivariable structure of the related state-space model, as well as because of underactuation, the control problem of these robots is nontrivial. The dynamic model of the brachiation robots undergoes first approximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model, an H-infinity feedback controller is designed. The linearization procedure relies on the Jacobian matrices of the brachiation robots’ state-space model. The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of the brachiation robots, under model uncertainties and external perturbations. For the computation of the controller’s feedback gains an algebraic Riccati equation is solved at each time-step of the control method. The global stability properties of the control scheme are proven through Lyapunov analysis. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the brachiation robots, under moderate variations of the control inputs.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126305844","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: 2

A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots with Real-Time Experiments 一种新的仿人机器人运动/动态混合全身控制方法及实时实验

Int. J. Humanoid Robotics Pub Date : 2021-10-27 DOI: 10.1142/s021984362150016x

D. Galdeano, A. Chemori, S. Krut, P. Fraisse

引用次数: 0

Socially assistive robots' deployment in healthcare settings: a global perspective 社会辅助机器人在医疗环境中的部署:全球视角

Int. J. Humanoid Robotics Pub Date : 2021-10-14 DOI: 10.1142/s0219843623500020

Laura Aymerich-Franch, Iliana Ferrer

{"title":"Socially assistive robots' deployment in healthcare settings: a global perspective","authors":"Laura Aymerich-Franch, Iliana Ferrer","doi":"10.1142/s0219843623500020","DOIUrl":"https://doi.org/10.1142/s0219843623500020","url":null,"abstract":"One of the major areas where social robots are finding their place in society is for healthcare-related applications. Yet, very little research has mapped the deployment of socially assistive robots (SARs) in real settings. Using a documentary research method, we were able to trace back 279 experiences of SARs deployments in hospitals, elderly care centers, occupational health centers, private homes, and educational institutions worldwide from 33 different countries, and involving 52 different robot models. We retrieved, analyzed, and classified the functions that SARs develop in these experiences, the areas in which they are deployed, the principal manufacturers, and the robot models that are being adopted. The functions we identified for SARs are entertainment, companionship, telepresence, edutainment, providing general and personalized information or advice, monitoring, promotion of physical exercise and rehabilitation, testing and pre-diagnosis, delivering supplies, patient registration, giving location indications, patient simulator, protective measure enforcement, medication and well-being adherence, translating and having conversations in multiple languages, psychological therapy, patrolling, interacting with digital devices, and disinfection. Our work provides an in-depth picture of the current state of the art of SARs' deployment in real scenarios for healthcare-related applications and contributes to understanding better the role of these machines in the healthcare sector.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130622806","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: 6

A Darwinian Differential Evolution Algorithm for Multilevel Image Thresholding 基于达尔文差分进化的多层次图像阈值分割算法

Int. J. Humanoid Robotics Pub Date : 2021-08-27 DOI: 10.1142/s0219843621500122

E. Ehsaeyan, A. Zolghadrasli

{"title":"A Darwinian Differential Evolution Algorithm for Multilevel Image Thresholding","authors":"E. Ehsaeyan, A. Zolghadrasli","doi":"10.1142/s0219843621500122","DOIUrl":"https://doi.org/10.1142/s0219843621500122","url":null,"abstract":"Image segmentation is a prime operation to understand the content of images. Multilevel thresholding is applied in image segmentation because of its speed and accuracy. In this paper, a novel multilevel thresholding algorithm based on differential evolution (DE) search is introduced. One of the major drawbacks of metaheuristic algorithms is the stagnation phenomenon which leads to falling into local optimums and premature convergence. To overcome this shortcoming, the idea of Darwinian theory is incorporated with DE algorithm to increase the diversity and quality of the individuals without decreasing the convergence speed of DE algorithm. A policy of encouragement and punishment is considered to lead searching agents in the search space and reduce the computational time. The algorithm is implemented based on dividing the population into specified groups and each group tries to find a better location. Ten test images are selected to verify the ability of our algorithm using the famous energy curve method. Kapur entropy and Type 2 fuzzy entropy are employed to evaluate the capability of the introduced algorithm. Nine different metaheuristic algorithms with Darwinian modes are also implemented and compared with our method. Experimental results manifest that the proposed method is a powerful tool for multilevel thresholding and the obtained results outperform the DE algorithm and other methods.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"167 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114520173","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-Robot SLAM in Dynamic Environments with Parallel Maps 基于并行地图的动态环境下多机器人SLAM

Int. J. Humanoid Robotics Pub Date : 2021-08-01 DOI: 10.1142/s0219843621500110

S. Badalkhani, R. Havangi, M. Farshad

{"title":"Multi-Robot SLAM in Dynamic Environments with Parallel Maps","authors":"S. Badalkhani, R. Havangi, M. Farshad","doi":"10.1142/s0219843621500110","DOIUrl":"https://doi.org/10.1142/s0219843621500110","url":null,"abstract":"There is an extensive literature regarding multi-robot simultaneous localization and mapping (MRSLAM). In most part of the research, the environment is assumed to be static, while the dynamic parts of the environment degrade the estimation quality of SLAM algorithms and lead to inherently fragile systems. To enhance the performance and robustness of the SLAM in dynamic environments (SLAMIDE), a novel cooperative approach named parallel-map (p-map) SLAM is introduced in this paper. The objective of the proposed method is to deal with the dynamics of the environment, by detecting dynamic parts and preventing the inclusion of them in SLAM estimations. In this approach, each robot builds a limited map in its own vicinity, while the global map is built through a hybrid centralized MRSLAM. The restricted size of the local maps, bounds computational complexity and resources needed to handle a large scale dynamic environment. Using a probabilistic index, the proposed method differentiates between stationary and moving landmarks, based on their relative positions with other parts of the environment. Stationary landmarks are then used to refine a consistent map. The proposed method is evaluated with different levels of dynamism and for each level, the performance is measured in terms of accuracy, robustness, and hardware resources needed to be implemented. The method is also evaluated with a publicly available real-world data-set. Experimental validation along with simulations indicate that the proposed method is able to perform consistent SLAM in a dynamic environment, suggesting its feasibility for MRSLAM applications.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133290173","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: 2