Robotics最新文献_第6页

Viewpoint Generation Using Feature-Based Constrained Spaces for Robot Vision Systems 基于特征约束空间的机器人视觉系统视点生成

Robotics Pub Date : 2023-07-26 DOI: 10.3390/robotics12040108

Alejandro Magaña, Jonas Dirr, Philipp Bauer, Gunther Reinhart

{"title":"Viewpoint Generation Using Feature-Based Constrained Spaces for Robot Vision Systems","authors":"Alejandro Magaña, Jonas Dirr, Philipp Bauer, Gunther Reinhart","doi":"10.3390/robotics12040108","DOIUrl":"https://doi.org/10.3390/robotics12040108","url":null,"abstract":"The efficient computation of viewpoints while considering various system and process constraints is a common challenge that any robot vision system is confronted with when trying to execute a vision task. Although fundamental research has provided solid and sound solutions for tackling this problem, a holistic framework that poses its formal description, considers the heterogeneity of robot vision systems, and offers an integrated solution remains unaddressed. Hence, this publication outlines the generation of viewpoints as a geometrical problem and introduces a generalized theoretical framework based on Feature-Based Constrained Spaces (C-spaces) as the backbone for solving it. A C-space can be understood as the topological space that a viewpoint constraint spans, where the sensor can be positioned for acquiring a feature while fulfilling the constraint. The present study demonstrates that many viewpoint constraints can be efficiently formulated as C-spaces, providing geometric, deterministic, and closed solutions. The introduced C-spaces are characterized based on generic domain and viewpoint constraints models to ease the transferability of the present framework to different applications and robot vision systems. The effectiveness and efficiency of the concepts introduced are verified on a simulation-based scenario and validated on a real robot vision system comprising two different sensors.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"652 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135800789","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

Human–Exoskeleton Interaction Force Estimation in Indego Exoskeleton Indego Exoskeleton人机交互力估计

Robotics Pub Date : 2023-05-01 DOI: 10.3390/robotics12030066

Mohammad Shushtari, Arash Arami

引用次数: 0

Special Issue on Advances in Industrial Robotics and Intelligent Systems 工业机器人和智能系统进展特刊

Robotics Pub Date : 2023-03-20 DOI: 10.3390/robotics12020045

António Paulo Moreira, Pedro Neto, Félix Vidal

引用次数: 0

Model-Based Mid-Level Regulation for Assist-As-Needed Hierarchical Control of Wearable Robots: A Computational Study of Human-Robot Adaptation. 基于模型的可穿戴机器人随需辅助层次控制中层调控:人-机器人自适应计算研究。

IF 3.7

Robotics Pub Date : 2022-01-29 eCollection Date: 2022-02-01 DOI: 10.3390/robotics11010020

Ali Nasr, Arash Hashemi, John McPhee

{"title":"Model-Based Mid-Level Regulation for Assist-As-Needed Hierarchical Control of Wearable Robots: A Computational Study of Human-Robot Adaptation.","authors":"Ali Nasr, Arash Hashemi, John McPhee","doi":"10.3390/robotics11010020","DOIUrl":"https://doi.org/10.3390/robotics11010020","url":null,"abstract":"<p><p>The closed-loop human-robot system requires developing an effective robotic controller that considers models of both the human and the robot, as well as human adaptation to the robot. This paper develops a mid-level controller providing assist-as-needed (AAN) policies in a hierarchical control setting using two novel methods: model-based and fuzzy logic rule. The goal of AAN is to provide the required extra torque because of the robot's dynamics and external load compared to the human limb free movement. The human-robot adaptation is simulated using a nonlinear model predictive controller (NMPC) as the human central nervous system (CNS) for three conditions of initial (the initial session of wearing the robot, without any previous experience), short-term (the entire first session, e.g., 45 min), and long-term experiences. The results showed that the two methods (model-based and fuzzy logic) outperform the traditional proportional method in providing AAN by considering distinctive human and robot models. Additionally, the CNS actuator model has difficulty in the initial experience and activates both antagonist and agonist muscles to reduce movement oscillations. In the long-term experience, the simulation shows no oscillation when the CNS NMPC learns the robot model and modifies its weights to simulate realistic human behavior. We found that the desired strength of the robot should be increased gradually to ignore unexpected human-robot interactions (e.g., robot vibration, human spasticity). The proposed mid-level controllers can be used for wearable assistive devices, exoskeletons, and rehabilitation robots.</p>","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"11 1","pages":"20"},"PeriodicalIF":3.7,"publicationDate":"2022-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8989382/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"40589887","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: 8

Robots in flexible manufacturing systems 柔性制造系统中的机器人

IF 3.7

Robotics Pub Date : 1987-09-01 Epub Date: 2003-03-05 DOI: 10.1016/0167-8493(87)90058-1

Nourredine Boubekri

引用次数: 2

Control of automation 自动化控制

IF 3.7

Robotics Pub Date : 1987-09-01 Epub Date: 2003-03-05 DOI: 10.1016/0167-8493(87)90048-9

T.M. Knasel (Editor-in-Chief)

引用次数: 14

Software tools for automated manufacturing cells 用于自动化制造单元的软件工具

IF 3.7

Robotics Pub Date : 1987-09-01 Epub Date: 2003-03-05 DOI: 10.1016/0167-8493(87)90049-0

M. Duncan, D. Williams

引用次数: 3

Plan generation in robotics 机器人技术中的计划生成

IF 3.7

Robotics Pub Date : 1987-09-01 Epub Date: 2003-03-05 DOI: 10.1016/0167-8493(87)90050-7

L.M. Camarinha-Matos

引用次数: 12

Development of CAD codes for the job integration of industrial robots 工业机器人作业集成CAD代码的开发

IF 3.7

Robotics Pub Date : 1987-09-01 Epub Date: 2003-03-05 DOI: 10.1016/0167-8493(87)90054-4

G.M. Acaccia, R.C. Michelini, R.M. Molfino

引用次数: 7

International Workshop on Industrial Applications of Machine Vision and Machine Intelligence 机器视觉和机器智能工业应用国际研讨会

IF 3.7

Robotics Pub Date : 1987-09-01 Epub Date: 2003-03-05 DOI: 10.1016/0167-8493(87)90061-1

引用次数: 0