{"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":"<p>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.</p>","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}
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":"<p>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.</p>","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}
{"title":"Distributed non-ideal leader estimation and formation control for multiple non-holonomic mobile robots","authors":"Peifen Lu, Zhigang Ren, Zongze Wu, Zhipeng Li, Shichao Zhou","doi":"10.1049/csy2.12061","DOIUrl":"10.1049/csy2.12061","url":null,"abstract":"<p>This paper studies a distributed formation problem for non-holonomic mobile robots. Consideration of the leader dynamics of the robots as non-ideal, that is, subject to disturbances/unmodelled variables, is the distinguishing feature of this work. The issue is resolved by a distributed combined disturbance-and-leader estimator, allowing for the distributed reconstruction of the leader's signals. The estimator needs to detect the leader's information and disturbance. In order to reject such disturbance and achieve the formation asymptotically, the control law incorporates the smooth estimator's estimate of the leader disturbance. Furthermore, the stability of the total distributed formation control algorithm is also examined using the Lyapunov technique. Finally, to show the viability of the proposed theoretical results, simulations and actual experiments are carried out.</p>","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 3","pages":"163-174"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12061","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47102191","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}
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":"<p>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.</p>","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}
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":"<p>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.</p>","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}
{"title":"A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics","authors":"Zhe Xu, Tao Yan, Simon X. Yang, S. Andrew Gadsden","doi":"10.1049/csy2.12060","DOIUrl":"10.1049/csy2.12060","url":null,"abstract":"<p>Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic control strategy is first developed to avoid sharp velocity jumps and provides smooth velocity commands relative to conventional methods. Then, a novel sliding mode control is proposed, which is capable of providing smooth and continuous torque commands free from chattering. In comparative studies, the proposed combined hybrid control strategy has ensured control signal smoothness, which is critical in real-world applications, especially for a UUV that needs to operate in complex underwater environments.</p>","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"4 3","pages":"153-162"},"PeriodicalIF":0.0,"publicationDate":"2022-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.12060","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78821766","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}
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}
Zhilin Yang, H. Fang, Yongqiang Wang, Wei Feng, Kai He
{"title":"Mechanical Design of a Crawler Hydraulic Sludge Cleaning Robot","authors":"Zhilin Yang, H. Fang, Yongqiang Wang, Wei Feng, Kai He","doi":"10.1109/CYBER55403.2022.9907466","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907466","url":null,"abstract":"At present, most of the cleaning of oil storage tanks is in the manual cleaning stage. On the one hand, manual cleaning has high labor intensity and high-risk factor, on the other hand, low cleaning efficiency leads to high cleaning costs. In response to the urgent needs and actual operating conditions of the oil tank cleaning industry, the crawler hydraulic sludge cleaning robot is developed in this paper which can replace the manual cleaning of oil tanks to a certain extent. This article mainly introduces the structure and working process of the robot as well as the strength check of the key components. Afterwards, the kinematics analysis of the robot in the working state is carried out.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"10 1","pages":"1247-1252"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87529032","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}
{"title":"Research on Human Features Semantic Segmentation Based on Laser Point Cloud","authors":"Tianyi Ma, Bokai Xuan, Jian Li, Yuexuan Xu, Minghe Liu, Qingsong Ding, Jianwen Wang, Hao Sun","doi":"10.1109/CYBER55403.2022.9907384","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907384","url":null,"abstract":"In view of the problems of health care for the semi-disabled elderly, this paper studies the semantic segmentation of human features in a bathing environment with a scrubbing device. Firstly three-dimensional point cloud data of different types to construct a human model is collected by the lidar. Secondly, overcome the influence of the water fog environment on the modeling by the hybrid filtering algorithm, and the human point cloud area is extracted. Finally, the human semantic segmentation model fusing the spatial feature extraction module and the channel attention module is proposed based on PointNet improvement. After training and testing on the target data set, the results show that the algorithm can accurately identify feature information for 3D human models of different types. The segmentation rate reaches 95.7%, which is 4.5% higher than the PointNet network, significantly improves the segmentation of human features, and has high engineering application value.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"10 1","pages":"876-881"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88450395","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}
{"title":"Evaluation and Comparison of Gmapping and Karto SLAM Systems","authors":"Shengshu Liu, Y. Lei, Xin Dong","doi":"10.1109/CYBER55403.2022.9907154","DOIUrl":"https://doi.org/10.1109/CYBER55403.2022.9907154","url":null,"abstract":"Gmapping and Karto are two classic laser-based SLAM algorithms widely used in various applications. This paper evaluated and compared the performances of these two algorithms. A series of experiments were conducted within the self-built outdoor environments. The parameters of algorithms were tuned, the performances of different parameter settings were evaluated and compared, and the pros and cons regarding mapping and localization accuracy and computational cost of two algorithms were discussed.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"1 1","pages":"295-300"},"PeriodicalIF":0.0,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90840915","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}