IET Cybersystems and Robotics最新文献_第6页

Squat motion of a bipedal robot using real-time kinematic prediction and whole-body control 基于实时运动学预测和全身控制的两足机器人深蹲运动

IET Cybersystems and Robotics Pub Date : 2022-12-20 DOI: 10.1049/csy2.12073

Wenhan Cai, Qingkai Li, Songrui Huang, Hongjin Zhu, Yong Yang, Mingguo Zhao

{"title":"Squat motion of a bipedal robot using real-time kinematic prediction and whole-body control","authors":"Wenhan Cai, Qingkai Li, Songrui Huang, Hongjin Zhu, Yong Yang, Mingguo Zhao","doi":"10.1049/csy2.12073","DOIUrl":"10.1049/csy2.12073","url":null,"abstract":"Squatting is a basic movement of bipedal robots, which is essential in robotic actions like jumping or picking up objects. Due to the intrinsic complex dynamics of bipedal robots, perfect squatting motion requires high-performance motion planning and control algorithms. The standard academic solution combines model predictive control (MPC) with whole-body control (WBC), which is usually computationally expensive and difficult to implement on practical robots with limited computing resources. The real-time kinematic prediction (RKP) method is proposed, which considers upcoming reference motion trajectories and combines it with quadratic programming (QP)-based WBC. Since the WBC handles the full robot dynamics and various constraints, the RKP only needs to adopt the linear kinematics in the robot's task space and to softly constrain the desired accelerations. Then, the computational cost of derived closed-form RKP is greatly reduced. The RKP method is verified in simulation on a heavy-loaded bipedal robot. The robot makes rapid and large-amplitude squatting motions, which require close-to-limit torque outputs. Compared with the conventional QP-based WBC method, the proposed method exhibits high adaptability to rough planning, which implies much less user interference in the robot's motion planning. Furthermore, like the MPC, the proposed method can prepare for upcoming motions in advance but requires much less computation time.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 4","pages":"298-312"},"PeriodicalIF":0.0,"publicationDate":"2022-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12073","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42465699","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 control of a robotic system with legs, wheels, and a reconfigurable arm 具有腿、轮和可重构臂的机器人系统的设计与控制

IET Cybersystems and Robotics Pub Date : 2022-12-14 DOI: 10.1049/csy2.12072

Linqi Ye, Houde Liu, Xueqian Wang, Bin Liang, Bo Yuan

{"title":"Design and control of a robotic system with legs, wheels, and a reconfigurable arm","authors":"Linqi Ye, Houde Liu, Xueqian Wang, Bin Liang, Bo Yuan","doi":"10.1049/csy2.12072","DOIUrl":"10.1049/csy2.12072","url":null,"abstract":"Unmanned robotic systems are expected to liberate people from heavy, monotonous, and dangerous work. However, it is still difficult for robots to work in complicated environments and handle diverse tasks. To this end, a robotic system with four legs, four wheels, and a reconfigurable arm is designed. Special attention has been given to making the robot compact, agile, and versatile. Firstly, by using separate wheels and legs, it removes the coupling in the traditional wheeled–legged system and guarantees highly efficient locomotion in both the wheeled and legged modes. Secondly, a leg–arm reconfiguration design is adopted to extend the manipulation capability of the system, which not only reduces the total weight but also allows for dexterous manipulation and multi-limb cooperation. Thirdly, a multi-task control strategy based on variable configurations is proposed for the system, which greatly enhances the adaptability of the robot to complicated environments. Experimental results are given, which validate the effectiveness of the system in mobility and operation capability.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 4","pages":"313-321"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12072","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47660414","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

Research on the autonomous system of the quadruped robot with a manipulator to realize leader-following, object recognition, navigation and operation 具有机械手的四足机器人自主系统研究，实现领导者跟随、目标识别、导航和操作

IET Cybersystems and Robotics Pub Date : 2022-11-21 DOI: 10.1049/csy2.12069

Jiamin Guo, Hui Chai, Yibin Li, Qin Zhang, Zhiying Wang, Jialin Zhang, Qifan Zhang, Haoning Zhao

{"title":"Research on the autonomous system of the quadruped robot with a manipulator to realize leader-following, object recognition, navigation and operation","authors":"Jiamin Guo, Hui Chai, Yibin Li, Qin Zhang, Zhiying Wang, Jialin Zhang, Qifan Zhang, Haoning Zhao","doi":"10.1049/csy2.12069","DOIUrl":"10.1049/csy2.12069","url":null,"abstract":"A systematic solution is developed to improve the autonomous capability of the quadruped robot with a manipulator, such as navigation, recognition and operation. The developed system adopts novel software, hardware system and system architecture, including a specially designed environment awareness system (EAS). Based on the camera and LiDAR on the EAS, the recognition of multiple common targets, such as the leader, door, window and bag, is achieved. In terms of navigation, a location method is built, that combines the laser odometer and global positioning system. A mapping and path planning module is designed by the Robot-centric Elevation Mapping algorithm and the rapidly exploring rand tree algorithm. For operation, a real-time target grasp detection system is proposed based on the You Only Look Once v5 algorithm to improve the success rate of tasks. The whole system is integrated based on the task relevance scheduling strategy to reduce the computational complexity. The tightly integrated system and the subsystems are evaluated by conducting simulations and physical experiments in robot recognition, navigation and operation. Extensive experiments show that the proposed framework can better achieve the autonomous navigation and operation of the quadruped robot with a manipulator. Notably, the proposed framework is still effective when facing dynamic objects. In addition, the system can be easily extended to other forms of mobile robot.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 4","pages":"376-388"},"PeriodicalIF":0.0,"publicationDate":"2022-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12069","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49599845","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: 1

A self-stabilised walking gait for humanoid robots based on the essential model with internal states 基于内部状态本质模型的仿人机器人自稳定步态

IET Cybersystems and Robotics Pub Date : 2022-11-13 DOI: 10.1049/csy2.12071

Qiuyue Luo, Christine Chevallereau, Yongsheng Ou, Jianxin Pang, Victor De-León-Gómez, Yannick Aoustin

{"title":"A self-stabilised walking gait for humanoid robots based on the essential model with internal states","authors":"Qiuyue Luo, Christine Chevallereau, Yongsheng Ou, Jianxin Pang, Victor De-León-Gómez, Yannick Aoustin","doi":"10.1049/csy2.12071","DOIUrl":"10.1049/csy2.12071","url":null,"abstract":"Walking stability is one of the key issues for humanoid robots. A self-stabilised walking gait for a full dynamic model of humanoid robots is proposed. For simplified models, that is, the linear inverted pendulum model and variable-length inverted pendulum model, self-stabilisation of walking gait can be obtained if virtual constraints are properly defined. This result is extended to the full dynamic model of humanoid robots by using an essential dynamic model, which is developed based on the zero dynamics concept. With the proposed method, a robust stable walking for a humanoid robot is achieved by adjusting the step timing and landing position of the swing foot automatically, following its intrinsic dynamic characteristics. This exempts the robot from the time-consuming high-level control approaches, especially when a full dynamic model is applied. How different walking patterns/features (i.e., the swing foot motion, the vertical centre of mass motion, the switching manifold configuration, etc.) affect the stability of the walking gait is analysed. Simulations are conducted on robots Romeo and TALOS to support the results.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 4","pages":"283-297"},"PeriodicalIF":0.0,"publicationDate":"2022-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12071","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45234259","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

Disturbance rejection for biped robots during walking and running using control moment gyroscopes 基于控制力矩陀螺仪的双足机器人行走和奔跑干扰抑制

IET Cybersystems and Robotics Pub Date : 2022-11-13 DOI: 10.1049/csy2.12070

Haochen Xu, Zhangguo Yu, Xuechao Chen, Chencheng Dong, Huanzhong Chen, Qiang Huang

{"title":"Disturbance rejection for biped robots during walking and running using control moment gyroscopes","authors":"Haochen Xu, Zhangguo Yu, Xuechao Chen, Chencheng Dong, Huanzhong Chen, Qiang Huang","doi":"10.1049/csy2.12070","DOIUrl":"10.1049/csy2.12070","url":null,"abstract":"Keeping balance in movement is an important premise for biped robots to complete various tasks. Now, the balance control of biped robots mainly depends on the cooperation of various joints of the robot's body. When robots move faster, the adjustment allowance of joints is reduced, and the robot's anti-disturbance ability will inevitably decline. To solve this problem, the control moment gyroscope (CMG) is creatively used as an auxiliary stabilisation device for fully actuated biped robots and the CMG assistance strategy, which can be integrated into the biped's balance control framework, is proposed. This strategy includes model predictive control module, distribution module, and CMG precession controller. Under the command of it, CMGs can effectively assist the robot in resisting impact and returning to initial positions in time. The results of anti-impact simulation on the walking and running biped robot prove that, with the help of CMGs, the robot's ability to resist disturbance and remain stable is significantly improved.The cover image is based on the Original Article Disturbance rejection for biped robots during walking and running using control moment gyroscopes by Haochen Xu et al., https://doi.org/10.1049/csy2.12070.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 4","pages":"268-282"},"PeriodicalIF":0.0,"publicationDate":"2022-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12070","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46888522","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: 1

Prescribed-time stabilisation control of differential driven automated guided vehicle 差速自动导引车的规定时间稳定控制

IET Cybersystems and Robotics Pub Date : 2022-11-09 DOI: 10.1049/csy2.12067

Qiyuan Chen, Pengfei Zhang

{"title":"Prescribed-time stabilisation control of differential driven automated guided vehicle","authors":"Qiyuan Chen, Pengfei Zhang","doi":"10.1049/csy2.12067","DOIUrl":"https://doi.org/10.1049/csy2.12067","url":null,"abstract":"The position control problem of differential-driven automated guided vehicles (AGVs) based on the prescribed-time control method is studied. First, an innovative orientation error function is proposed by an auxiliary arcsine function about the orientation angle. Thus, the problem of position control of AGV is transformed into the stabilisation control of the kinematic system. Second, by introducing a reserved time parameter and a smooth switching function, a novel time-varying scaling function is proposed. This novel scaling function avoids the risk of infinite gain in the conventional prescribed-time control method while ensuring the smoothness of control laws. Then, an improved velocity constraint function is proposed using the Gaussian function. Compared with the existing constraint function, the proposed method not only has more smoothness but also solves the balance point errors caused by the large AGV orientation errors. The presented method ensures that the AGV reaches the target position in a prescribed time. Hence, the upper bound of the AGV system state can be determined by adjusting parameters. Matlab simulation results show that the proposed controller can effectively make the AGV system state satisfy the prescribed bound.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"5 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12067","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50145046","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

HeterBot: A heterogeneous mobile manipulation robot for versatile operation HeterBot：一种用于多功能操作的异构移动操作机器人

IET Cybersystems and Robotics Pub Date : 2022-11-03 DOI: 10.1049/csy2.12068

Linqi Ye, Jiatai Guo, Jiayi Li, Houde Liu, Xueqian Wang, Bin Liang

引用次数: 1

Obstacle-transformer: A trajectory prediction network based on surrounding trajectories 障碍物变换器：一种基于周围轨迹的轨迹预测网络

IET Cybersystems and Robotics Pub Date : 2022-10-21 DOI: 10.1049/csy2.12066

Wendong Zhang, Qingjie Chai, Quanqi Zhang, Chengwei Wu

引用次数: 0

A new control for the pneumatic muscle bionic legged robot based on neural network 基于神经网络的气动肌肉仿生腿机器人新控制

IET Cybersystems and Robotics Pub Date : 2022-10-09 DOI: 10.1049/csy2.12065

Chaoyue Xu, Feifei Qin, Kun Zhou, Binrui Wang, Yinglian Jin

{"title":"A new control for the pneumatic muscle bionic legged robot based on neural network","authors":"Chaoyue Xu, Feifei Qin, Kun Zhou, Binrui Wang, Yinglian Jin","doi":"10.1049/csy2.12065","DOIUrl":"10.1049/csy2.12065","url":null,"abstract":"The bionic joints composed of pneumatic muscles (PMs) can simulate the motion of biological joints. However, the PMs themselves have non-linear characteristics such as hysteresis and creep, which make it difficult to achieve high-precision trajectory tracking control of PM-driven robots. In order to effectively suppress the adverse effects of non-linearity on control performance and improve the dynamic performance of PM-driven legged robot, this study designs a double closed-loop control structure based on neural network. First, according to the motion model of the bionic joint, a mapping model between PM contraction force and joint torque is proposed. Second, a control strategy is designed for the inner loop of PM contraction force and the outer loop of bionic joint angle. In the inner control loop, a feedforward neuron Proportional-Integral-Derivative controller is designed based on the PM three-element model. In the control outer loop, a sliding mode robust controller with local model approximation is designed by using the radial basis function neural network approximation capability. Finally, it is verified by simulation and physical experiments that the designed control strategy is suitable for humanoid motion control of antagonistic PM joints, and it can satisfy the requirements of reliability, flexibility, and bionics during human–robot collaboration.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 4","pages":"339-355"},"PeriodicalIF":0.0,"publicationDate":"2022-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12065","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49382381","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

Radial basis function-based exoskeleton robot controller development 基于径向基函数的外骨骼机器人控制器开发

IET Cybersystems and Robotics Pub Date : 2022-09-27 DOI: 10.1049/csy2.12057

SK Hasan

{"title":"Radial basis function-based exoskeleton robot controller development","authors":"SK Hasan","doi":"10.1049/csy2.12057","DOIUrl":"10.1049/csy2.12057","url":null,"abstract":"The realisation of a model-based controller for a robot with a higher degree of freedom requires a substantial amount of computational power. A high-speed CPU is required to maintain a higher sampling rate. Multicore processors cannot boost the performance or reduce the execution time as the programs are sequentially structured. The neural network is a great tool to convert a sequentially structured program to an equivalent parallel architecture program. In this study, a radial basis function (RBF) neural network is developed for controlling 7 degrees of freedom of the human lower extremity exoskeleton robot. A realistic friction model is used for modelling joint friction. High trajectory tracking accuracies have been obtained. Evidence of computational efficiency has been observed. The stability analysis of the developed controller is presented. Analysis of variance is used to assess the controller's resilience to parameter variation. To show the effectiveness of the developed controller, a comparative study was performe between the developed RBF network-based controller and Sliding Mode Controller, Computed Torque Controller, Adaptive controller, Linear Quadratic Regulator and Model Reference Computed Torque Controller.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 3","pages":"228-250"},"PeriodicalIF":0.0,"publicationDate":"2022-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12057","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45108142","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