IET Cybersystems and Robotics最新文献_第8页

A heuristic control framework for heavy-duty hexapod robot over complex terrain 复杂地形下重型六足机器人的启发式控制框架

IET Cybersystems and Robotics Pub Date : 2022-09-21 DOI: 10.1049/csy2.12064

Jinmian Hou, Hui Chai, Yibin Li, Yaxian Xin, Wei Chen

{"title":"A heuristic control framework for heavy-duty hexapod robot over complex terrain","authors":"Jinmian Hou, Hui Chai, Yibin Li, Yaxian Xin, Wei Chen","doi":"10.1049/csy2.12064","DOIUrl":"10.1049/csy2.12064","url":null,"abstract":"The large and heavy-duty hexapod robot has strong motion stability and load capacity, which promises to have a wide range of application prospects in rescue and disaster relief. Multi-mode gait and static stability during walking make the hexapod robot adapt to more diverse terrains, while little research has been conducted on the motion control methods of heavy-duty hexapod robots in complex environments. A novel heuristic whole-body motion control framework for the heavy-duty hexapod robot to traverse complex terrain is presented. By splitting the legged locomotion into a single task, the whole-body motion could be planned in a reasonable time. The terrain adaptation strategy is designed to improve the complex terrain passability. Ground reaction forces are then optimised based on single rigid-body dynamics with heuristics. This framework utilised simple but powerful heuristics to approximate complex dynamics and allows for a single set of parameters for all task conditions. Simulation results demonstrate the robustness and adaptability of the proposed framework.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 4","pages":"322-330"},"PeriodicalIF":0.0,"publicationDate":"2022-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12064","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43335590","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

Unsupervised learning on particle image velocimetry with embedded cross-correlation and divergence-free constraint 嵌入互相关和无发散约束的粒子图像测速无监督学习

IET Cybersystems and Robotics Pub Date : 2022-09-21 DOI: 10.1049/csy2.12056

Yiwei Chong, Jiaming Liang, Tehuan Chen, Chao Xu, Changchun Pan

{"title":"Unsupervised learning on particle image velocimetry with embedded cross-correlation and divergence-free constraint","authors":"Yiwei Chong, Jiaming Liang, Tehuan Chen, Chao Xu, Changchun Pan","doi":"10.1049/csy2.12056","DOIUrl":"10.1049/csy2.12056","url":null,"abstract":"Particle image velocimetry (PIV) is an essential method in experimental fluid dynamics. In recent years, the development of deep learning-based methods has inspired new approaches to tackle the PIV problem, which considerably improves the accuracy of PIV. However, the supervised learning of PIV is driven by large volumes of data with ground truth information. Therefore, the authors consider unsupervised PIV methods. There has been some work on unsupervised PIV, but they are not nearly as effective as supervised learning PIV. The authors try to improve the effectiveness and accuracy of unsupervised PIV by adding classical PIV methods and physical constraints. In this paper, the authors propose an unsupervised PIV method combined with the cross-correlation method and divergence-free constraint, which obtains better performance than other unsupervised PIV methods. The authors compare some classical PIV methods and some deep learning methods, such as LiteFlowNet, LiteFlowNet-en, and UnLiteFlowNet with the authors’ model on the synthetic dataset. Besides, the authors contrast the results of LiteFlowNet, UnLiteFlowNet and the authors’ model on experimental particle images. As a result, the authors’ model shows comparable performance with classical PIV methods as well as supervised PIV methods and outperforms the previous unsupervised PIV method in most flow cases.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 3","pages":"200-211"},"PeriodicalIF":0.0,"publicationDate":"2022-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12056","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44997054","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

Distributed non-ideal leader estimation and formation control for multiple non-holonomic mobile robots 多个非完整移动机器人的分布式非理想领导者估计与编队控制

IET Cybersystems and Robotics Pub Date : 2022-09-19 DOI: 10.1049/csy2.12061

Peifen Lu, Zhigang Ren, Zongze Wu, Zhipeng Li, Shichao Zhou

引用次数: 0

Path planning of hyper-redundant manipulators for narrow spaces 窄空间超冗余机械手路径规划

IET Cybersystems and Robotics Pub Date : 2022-09-16 DOI: 10.1049/csy2.12055

Haoxiang Su, Manlu Liu, Hongwei Liu, Jianwen Huo, Songlin Gou, Qing Su

{"title":"Path planning of hyper-redundant manipulators for narrow spaces","authors":"Haoxiang Su, Manlu Liu, Hongwei Liu, Jianwen Huo, Songlin Gou, Qing Su","doi":"10.1049/csy2.12055","DOIUrl":"10.1049/csy2.12055","url":null,"abstract":"Compared with the traditional manipulator, the hyper-redundant manipulator has the advantage of high flexibility, which is particularly suitable for all kinds of complex working environments. However, the complex space environment requires the hyper-redundant manipulator to have stronger obstacle avoidance ability and adaptability. In order to solve the problems of a large amount of calculation and poor obstacle avoidance effects in the path planning of the hyper-redundant manipulator, this paper introduces the ‘backbone curve’ approach, which transforms the problem of solving joint path points into the behaviour of determining the backbone curve. After the backbone curve approach is used to design the curve that meets the requirements of obstacle avoidance and the end pose, the least squares fitting and the improved space joint fitting are used to match the plane curve and the space curve respectively, and the angle value of each joint of the manipulator is limited by the algorithm. Furthermore, a fusion obstacle avoidance algorithm is proposed to obtain the joint path points of the hyper-redundant manipulator. Compared with the classic Jacobian iteration method, this method can avoid obstacles better, has the advantages of simple calculation, high efficiency, and can fully reflect the geometric characteristics of the manipulator. Simulation experiments have proven the feasibility of the algorithm.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 3","pages":"251-263"},"PeriodicalIF":0.0,"publicationDate":"2022-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12055","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47919382","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

Variable universe fuzzy control of walking stability for flying-walking power line inspection robot based on multi-work conditions 基于多工况的飞行行走电力巡检机器人行走稳定性的变域模糊控制

IET Cybersystems and Robotics Pub Date : 2022-09-16 DOI: 10.1049/csy2.12058

Zhaojun Li, Xinyan Qin, Jin Lei, Jie Zhang, Huidong Li, Bo Li, Yanqi Wang, Dexin Wang

{"title":"Variable universe fuzzy control of walking stability for flying-walking power line inspection robot based on multi-work conditions","authors":"Zhaojun Li, Xinyan Qin, Jin Lei, Jie Zhang, Huidong Li, Bo Li, Yanqi Wang, Dexin Wang","doi":"10.1049/csy2.12058","DOIUrl":"10.1049/csy2.12058","url":null,"abstract":"To address complex work conditions incredibly challenging to the stability of power line inspection robots, we design a walking mechanism and propose a variable universe fuzzy control (VUFC) method based on multi-work conditions for flying-walking power line inspection robots (FPLIRs). The contributions of this paper are as follows: (1) A flexible pressing component is designed to improve the adaptability of the FPLIR to the ground line slope. (2) The influence of multi-work conditions on the FPLIR's walking stability is quantified using three condition parameters (i.e., slope, slipping degree and swing angle), and their measurement methods are proposed. (3) The VUFC method based on the condition parameters is proposed to improve the walking stability of the FPLIR. Finally, the effect of the VUFC method on walking stability of the FPLIR is teste. The experimental results show that the maximum climbing angle of the FPLIR reaches 29.1°. Compared with the constant pressing force of 30 N, the average value of slipping degree is 0.93°, increasing by 35%. The maximum and average values of robot's swing angle are reduced by 46% and 54%, respectively. By comparing with fuzzy control, the VUFC can provide a more reasonable pressing force while maintaining the walking stability of the FPLIR. The proposed walking mechanism and the VUFC method significantly improve the stability of the FPLIR, providing a reference for structural designs and stability controls of inspection robots.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 3","pages":"212-227"},"PeriodicalIF":0.0,"publicationDate":"2022-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12058","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47585860","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: 2

A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics 基于生物神经动力学的无人潜航器混合跟踪控制策略

IET Cybersystems and Robotics Pub Date : 2022-09-09 DOI: 10.1049/csy2.12060

Zhe Xu, Tao Yan, Simon X. Yang, S. Andrew Gadsden

引用次数: 1

Gait tracking control of biped robot based on adaptive gait switching algorithm 基于自适应步态切换算法的双足机器人步态跟踪控制

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907560

Jianjun Yu, Ruiqi Li, Daoxiong Gong, Yixin Liu, Peng Liu

{"title":"Gait tracking control of biped robot based on adaptive gait switching algorithm","authors":"Jianjun Yu, Ruiqi Li, Daoxiong Gong, Yixin Liu, Peng Liu","doi":"10.1109/CYBER55403.2022.9907560","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907560","url":null,"abstract":"In order to make the walking gait of biped robot more human like, this paper takes the human walking data as the expected gait of robot, and uses the periodic characteristics of gait, proposes a gait tracking control strategy of Biped Robot Based on adaptive gait switching algorithm. Firstly, this paper establishes the complete dynamic models of left leg support phase (LSP) and right leg support phase (RSP) based on Lagrange method, then designs the corresponding LQR gait tracking control strategy, and uses the adaptive weighted particle swarm algorithm (A WPSO) to obtain the optimal controller parameters. Finally, the threshold range of plantar contact force in two periods are estimated based on the adaptive mechanism, and the occurrence of gait switching is detected according to the defined decision rules, thus trigger the control strategy in the next stage to realize the walking tracking control of biped robot. The experimental results show that only two LQR controllers to realize the accurate tracking of the desired gait of the biped robot, and the maximum gait speed reaches two steps/s, which is close to the human gait speed. Compared with other methods, the gait is more human like.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"42 4 1","pages":"105-110"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90424781","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

Mechanical Design of a Crawler Hydraulic Sludge Cleaning Robot 履带式液压污泥清扫机器人的机械设计

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907466

Zhilin Yang, H. Fang, Yongqiang Wang, Wei Feng, Kai He

引用次数: 0

Research on Human Features Semantic Segmentation Based on Laser Point Cloud 基于激光点云的人体特征语义分割研究

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907384

Tianyi Ma, Bokai Xuan, Jian Li, Yuexuan Xu, Minghe Liu, Qingsong Ding, Jianwen Wang, Hao Sun

引用次数: 0

Evaluation and Comparison of Gmapping and Karto SLAM Systems Gmapping与Karto SLAM系统的评价与比较

IET Cybersystems and Robotics Pub Date : 2022-07-27 DOI: 10.1109/CYBER55403.2022.9907154

Shengshu Liu, Y. Lei, Xin Dong

引用次数: 0