Robotics最新文献_第5页

Hand Prosthesis Sensorimotor Control Inspired by the Human Somatosensory System 受人体体感系统启发的假肢感觉运动控制

Robotics Pub Date : 2023-09-30 DOI: 10.3390/robotics12050136

Enrica Stefanelli, Francesca Cordella, Cosimo Gentile, Loredana Zollo

{"title":"Hand Prosthesis Sensorimotor Control Inspired by the Human Somatosensory System","authors":"Enrica Stefanelli, Francesca Cordella, Cosimo Gentile, Loredana Zollo","doi":"10.3390/robotics12050136","DOIUrl":"https://doi.org/10.3390/robotics12050136","url":null,"abstract":"Prosthetic hand systems aim at restoring lost functionality in amputees. Manipulation and grasping are the main functions of the human hand, which are provided by skin sensitivity capable of protecting the hand from damage and perceiving the external environment. The present study aims at proposing a novel control strategy which improves the ability of the prosthetic hand to interact with the external environment by fostering the interaction of tactile (forces and slipping) and thermoceptive sensory information and by using them to guarantee grasp stability and improve user safety. The control strategy is based on force control with an internal position loop and slip detection, which is able to manage temperature information thanks to the interaction with objects at different temperatures. This architecture has been tested on a prosthetic hand, i.e., the IH2 Azzurra developed by Prensilia s.r.l, in different temperature and slippage conditions. The prosthetic system successfully performed the grasping tasks by managing the tactile and thermal information simultaneously. In particular, the system is able to guarantee a stable grasp during the execution of the tasks. Additionally, in the presence of an external stimulus (thermal or slippage), the prosthetic hand is able to react and always reacts to the stimulus instantaneously (reaction times ≤ 0.04 s, comparable to the one of the human being), regardless of its nature and in accordance with the control strategy. In this way, the prosthetic device is protected from damaging temperatures, the user is alerted of a dangerous situation and the stability of the grasp is restored in the event of a slip.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"161 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136343349","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

Data-Driven Inverse Kinematics Approximation of a Delta Robot with Stepper Motors 带步进电机的Delta机器人的数据驱动逆运动学逼近

Robotics Pub Date : 2023-09-30 DOI: 10.3390/robotics12050135

Anni Zhao, Arash Toudeshki, Reza Ehsani, Jian-Qiao Sun

{"title":"Data-Driven Inverse Kinematics Approximation of a Delta Robot with Stepper Motors","authors":"Anni Zhao, Arash Toudeshki, Reza Ehsani, Jian-Qiao Sun","doi":"10.3390/robotics12050135","DOIUrl":"https://doi.org/10.3390/robotics12050135","url":null,"abstract":"The Delta robot is a parallel robot that is over-actuated and has a highly nonlinear dynamic model, which poses a significant challenge to its control design. The inverse kinematics that maps the motor angles to the position of the end effector is highly nonlinear and extremely important for the control design of the Delta robot. It has been experimentally shown that geometry-based inverse kinematics is not accurate enough to capture the dynamics of the Delta robot due to manufacturing component errors, measurement errors, joint flexibility, backlash, friction, etc. To address this issue, we propose a neural network model to approximate the inverse kinematics of the Delta robot with stepper motors. The neural network model is trained with randomly sampled experimental data and implemented on the hardware in an open-loop control for trajectory tracking. Extensive experimental results show that the neural network model achieves excellent performance in terms of the trajectory tracking of the Delta robot under different operation conditions, and outperforms the geometry-based inverse kinematics model. A critical numerical observation indicates that neural networks trained with the specific trajectory data fall short of anticipated performance due to a lack of data. Conversely, neural networks trained on random experimental data capture the rich dynamics of the Delta robot and are quite robust to model uncertainties compared to geometry-based inverse kinematics.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"161 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136341376","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

Keypoint Detection and Description through Deep Learning in Unstructured Environments 基于深度学习的非结构化环境下关键点检测与描述

Robotics Pub Date : 2023-09-30 DOI: 10.3390/robotics12050137

Georgios Petrakis, Panagiotis Partsinevelos

{"title":"Keypoint Detection and Description through Deep Learning in Unstructured Environments","authors":"Georgios Petrakis, Panagiotis Partsinevelos","doi":"10.3390/robotics12050137","DOIUrl":"https://doi.org/10.3390/robotics12050137","url":null,"abstract":"Feature extraction plays a crucial role in computer vision and autonomous navigation, offering valuable information for real-time localization and scene understanding. However, although multiple studies investigate keypoint detection and description algorithms in urban and indoor environments, far fewer studies concentrate in unstructured environments. In this study, a multi-task deep learning architecture is developed for keypoint detection and description, focused on poor-featured unstructured and planetary scenes with low or changing illumination. The proposed architecture was trained and evaluated using a training and benchmark dataset with earthy and planetary scenes. Moreover, the trained model was integrated in a visual SLAM (Simultaneous Localization and Maping) system as a feature extraction module, and tested in two feature-poor unstructured areas. Regarding the results, the proposed architecture provides a mAP (mean Average Precision) in a level of 0.95 in terms of keypoint description, outperforming well-known handcrafted algorithms while the proposed SLAM achieved two times lower RMSE error in a poor-featured area with low illumination, compared with ORB-SLAM2. To the best of the authors’ knowledge, this is the first study that investigates the potential of keypoint detection and description through deep learning in unstructured and planetary environments.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136343642","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

Three-Dimensional Flight Corridor: An Occupancy Checking Process for Unmanned Aerial Vehicle Motion Planning Inside Confined Spaces 三维飞行走廊:无人机在密闭空间内运动规划的占用检查过程

Robotics Pub Date : 2023-09-29 DOI: 10.3390/robotics12050134

Sherif Mostafa, Alejandro Ramirez-Serrano

{"title":"Three-Dimensional Flight Corridor: An Occupancy Checking Process for Unmanned Aerial Vehicle Motion Planning Inside Confined Spaces","authors":"Sherif Mostafa, Alejandro Ramirez-Serrano","doi":"10.3390/robotics12050134","DOIUrl":"https://doi.org/10.3390/robotics12050134","url":null,"abstract":"To deploy Unmanned Aerial Vehicles (UAVs) inside heterogeneous GPS-denied confined (potentially unknown) spaces, such as those encountered in mining and Urban Search and Rescue (USAR), requires the enhancement of numerous technologies. Of special interest is for UAVs to identify collision-freeSafe Flight Corridors (SFC+) within highly cluttered convex- and non-convex-shaped environments, which requires UAVs to perform advanced flight maneuvers while exploiting their flying capabilities. Within this paper, a novel auxiliary occupancy checking process that augments traditional 3D flight corridor generation is proposed. The 3D flight corridor is established as a topological structure based on a hand-crafted path either derived from a computer-generated environment or provided by the human operator, which captures humans’ preferences and desired flight intentions for the given space. This corridor is formulated as a series of interconnected overlapping convex polyhedra bounded by the perceived environmental geometries, which facilitates the generation of suitable 3D flight paths/trajectories that avoid local minima within the corridor boundaries. An occupancy check algorithm is employed to reduce the search space needed to identify 3D obstacle-free spaces in which their constructed polyhedron geometries are replaced with alternate convex polyhedra. To assess the feasibility and efficiency of the proposed SFC+ methodology, a comparative study is conducted against the Star-Convex Method (SCM), a prominent algorithm in the field. The results reveal the superiority of the proposed SFC+ methodology in terms of its computational efficiency and reduced search space for UAV maneuvering solutions. Various challenging confined-environment scenarios, each with different obstacle densities (confined scenarios), are utilized to verify the obtained outcomes.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135246697","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

An Advisor-Based Architecture for a Sample-Efficient Training of Autonomous Navigation Agents with Reinforcement Learning 基于顾问的自主导航智能体样本高效训练与强化学习

Robotics Pub Date : 2023-09-28 DOI: 10.3390/robotics12050133

Rukshan Darshana Wijesinghe, Dumindu Tissera, Mihira Kasun Vithanage, Alex Xavier, Subha Fernando, Jayathu Samarawickrama

{"title":"An Advisor-Based Architecture for a Sample-Efficient Training of Autonomous Navigation Agents with Reinforcement Learning","authors":"Rukshan Darshana Wijesinghe, Dumindu Tissera, Mihira Kasun Vithanage, Alex Xavier, Subha Fernando, Jayathu Samarawickrama","doi":"10.3390/robotics12050133","DOIUrl":"https://doi.org/10.3390/robotics12050133","url":null,"abstract":"Recent advancements in artificial intelligence have enabled reinforcement learning (RL) agents to exceed human-level performance in various gaming tasks. However, despite the state-of-the-art performance demonstrated by model-free RL algorithms, they suffer from high sample complexity. Hence, it is uncommon to find their applications in robotics, autonomous navigation, and self-driving, as gathering many samples is impractical in real-world hardware systems. Therefore, developing sample-efficient learning algorithms for RL agents is crucial in deploying them in real-world tasks without sacrificing performance. This paper presents an advisor-based learning algorithm, incorporating prior knowledge into the training by modifying the deep deterministic policy gradient algorithm to reduce the sample complexity. Also, we propose an effective method of employing an advisor in data collection to train autonomous navigation agents to maneuver physical platforms, minimizing the risk of collision. We analyze the performance of our methods with the support of simulation and physical experimental setups. Experiments reveal that incorporating an advisor into the training phase significantly reduces the sample complexity without compromising the agent’s performance compared to various benchmark approaches. Also, they show that the advisor’s constant involvement in the data collection process diminishes the agent’s performance, while the limited involvement makes training more effective.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135387723","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

Context-Aware Robotic Assistive System: Robotic Pointing Gesture-Based Assistance for People with Disabilities in Sheltered Workshops 情境感知机器人辅助系统:为庇护工场的残疾人士提供基于机器人指向手势的帮助

Robotics Pub Date : 2023-09-27 DOI: 10.3390/robotics12050132

Sandra Drolshagen, Max Pfingsthorn, Andreas Hein

{"title":"Context-Aware Robotic Assistive System: Robotic Pointing Gesture-Based Assistance for People with Disabilities in Sheltered Workshops","authors":"Sandra Drolshagen, Max Pfingsthorn, Andreas Hein","doi":"10.3390/robotics12050132","DOIUrl":"https://doi.org/10.3390/robotics12050132","url":null,"abstract":"People with disabilities are severely underrepresented in the open labor market. Yet, pursuing a job has a positive impact in many aspects of life. This paper presents a possible approach to improve inclusion by including a robotic manipulator into context-aware Assistive Systems. This expands the assistance possibilities tremendously by adding gesture-based feedback and aid. The system presented is based on the intelligent control system of behavior trees, which—together with a depth camera, specifically designed policies, and a collaborative industrial robotic manipulator—can assist workers with disabilities in the workplace. A developed assistance node generates personalized action sequences. These include different robotic pointing gestures, from simple waving, to precisely indicating the target position of the workpiece during assembly tasks. This paper describes the design challenges and technical implementation of the first Context-Aware Robotic Assistive System. Moreover, an in-field user study in a Sheltered Workshop was performed to verify the concept and developed algorithms. In the assembly task under consideration, almost three times as many parts could be assembled with the developed system than with the baseline condition. In addition, the reactions and statements of the participants showed that the robot was considered and accepted as a tutor.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135579746","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 Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints 综述平行机器人:康复、辅助和类人机器人在颈、肩、腕、髋和踝关节的应用

Robotics Pub Date : 2023-09-20 DOI: 10.3390/robotics12050131

Victoria E. Abarca, Dante A. Elias

{"title":"A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints","authors":"Victoria E. Abarca, Dante A. Elias","doi":"10.3390/robotics12050131","DOIUrl":"https://doi.org/10.3390/robotics12050131","url":null,"abstract":"This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom, specifically the neck, shoulder, wrist, hip, and ankle. A systematic search was conducted across multiple databases, including Scopus, Web of Science, PubMed, IEEE Xplore, ScienceDirect, the Directory of Open Access Journals, and the ASME Journal. This systematic review offers an updated overview of advancements in the field from 2012 to 2023. After applying exclusion criteria, 93 papers were selected for in-depth review. This cohort included 13 articles focusing on the neck joint, 19 on the shoulder joint, 22 on the wrist joint, 9 on the hip joint, and 30 on the ankle joint. The article discusses the timeline and advancements of parallel robots, covering technology readiness levels (TRLs), design, the number of degrees of freedom, kinematics structure, workspace assessment, functional capabilities, performance evaluation methods, and material selection for the development of parallel robotics. It also examines critical technological challenges and future prospects in rehabilitation, assistance, and humanoid robots.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136312833","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

CAD-Based Robot Programming Solution for Wire Harness Manufacturing in Aeronautic Sector 基于cad的航空线束制造机器人编程解决方案

Robotics Pub Date : 2023-09-14 DOI: 10.3390/robotics12050130

Javier González Huarte, Maite Ortiz de Zarate, Aitor Ibarguren

引用次数: 0

Tendon-Driven Variable-Stiffness Pneumatic Soft Gripper Robot 肌腱驱动变刚度气动软抓取机器人

Robotics Pub Date : 2023-09-11 DOI: 10.3390/robotics12050128

Safeh Clinton Mawah, Yong-Jai Park

{"title":"Tendon-Driven Variable-Stiffness Pneumatic Soft Gripper Robot","authors":"Safeh Clinton Mawah, Yong-Jai Park","doi":"10.3390/robotics12050128","DOIUrl":"https://doi.org/10.3390/robotics12050128","url":null,"abstract":"In recent times, the soft robotics field has been attracting significant research focus owing to its high level of manipulation capabilities unlike traditional rigid robots, which gives room for increasing use in other areas. However, compared to traditional rigid gripper robots, being capable of controlling/obtaining overall body stiffness when required is yet to be further explored since soft gripper robots have inherently less-rigid properties. Unlike previous designs with very complex variable-stiffness systems, this paper demonstrates a soft gripper design with minimum system complexity while being capable of varying the stiffness of a continuum soft robotic actuator and proves to have potential applications in gripping objects of various shapes, weights, and sizes. The soft gripper actuator comprises two separate mechanisms: the pneumatic mechanism for bending control and the mechanical structure for stiffness variation by pulling tendons using stepper motors which compresses the actuator, thereby changing the overall stiffness. The pneumatic mechanism was first fabricated and then embedded into another silicon layer during which it was also merged with the mechanical structure for stiffness control. By first pneumatically actuating the actuator which causes bending and then pulling the tendons, we found out that the actuator stiffness value can be increased up to 145% its initial value, and the gripper can grasp and lift a weight of up to 2.075 kg.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135979750","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 Novel Error Sensitivity Analysis Method for a Parallel Spindle Head 一种新的并联主轴头误差灵敏度分析方法

Robotics Pub Date : 2023-09-11 DOI: 10.3390/robotics12050129

Liping Wang, Mengyu Li, Guang Yu

引用次数: 0