2022 19th International Conference on Ubiquitous Robots (UR)最新文献_第4页

Blockly in a Box: How Children Explore Block-Based Robot Programming 方块在盒子里:孩子们如何探索基于方块的机器人编程

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826278

Craig J. Sutherland

引用次数: 1

Model Predictive Control Using Dynamic Model Decomposition Applied to Two-Wheeled Inverted Pendulum Mobile Robot 基于动态模型分解的两轮倒立摆移动机器人模型预测控制

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826244

Junjie Shen, D. Hong

{"title":"Model Predictive Control Using Dynamic Model Decomposition Applied to Two-Wheeled Inverted Pendulum Mobile Robot","authors":"Junjie Shen, D. Hong","doi":"10.1109/ur55393.2022.9826244","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826244","url":null,"abstract":"In this paper, we discuss the locomotion control for the two-wheeled inverted pendulum (TWIP) mobile robot. The robot in consideration involves two independent driving wheels sharing the same axle as well as one inverted pendulum in the middle acting as the main body. Instead of considering the entire TWIP mobile robot as a whole, following the idea of Dynamic Model Decomposition, we decompose the robot into the body and the two wheels, with interaction forces and moments connecting them. The effect is that we can thus enjoy lower-dimensional dynamics for each subsystem while their composition maintaining the equivalence to the full-order robot model. Based on that, we further propose a corresponding model predictive control framework via quadratic programming, which considers linearly approximated body dynamics with constrained wheel reaction forces as inputs. The overall methodology was successfully implemented on a TWIP mobile robot in the simulation environment. The simulation results show that the robot is capable of station keeping, disturbance rejection, velocity tracking, and path following.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115231079","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

Play scenarios and interaction designs of a social robot for the development of children’s social-emotional intelligence by using the service design methodology 运用服务设计方法，对儿童社交情商发展的社交机器人进行游戏场景和交互设计

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826245

H. Son, Nahyun Kim, Inae Chung, Jaehee Chung

引用次数: 0

Impedance control of antagonistically driven SMA springs 对抗驱动SMA弹簧的阻抗控制

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826248

T. Luong, Chanyong Park, Myeongyun Doh, Y. Ha, H. Moon

引用次数: 1

M-BRIC: Design of Mass-driven Bi-Rotor with RL-based Intelligent Controller 基于rl的质量驱动双转子智能控制器设计

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826246

Dongkyu Lee, E. Lee, Duckyu Choi, Junho Choi, Christian Tirtawardhana, H. Myung

{"title":"M-BRIC: Design of Mass-driven Bi-Rotor with RL-based Intelligent Controller","authors":"Dongkyu Lee, E. Lee, Duckyu Choi, Junho Choi, Christian Tirtawardhana, H. Myung","doi":"10.1109/ur55393.2022.9826246","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826246","url":null,"abstract":"Unmanned aerial vehicles (UAVs) have been widely used in complex applications, such as military, exploration, and rescue. Although there are many quadcopter applications, the bi-copter like a coaxial helicopter has apparent energy efficiency and scalability advantages. What makes the bi-copter challenging to use is difficulty in control because additional mechanical structures are essential for stable movement. This paper tackles this problem by proposing a novel bi-rotor design called M-BRIC with rotatable weight rods and reinforcement learning-based controller. Two weight rods that affect the model’s center of mass (CoM) allow higher maneuverability in horizontal directions. The controller of the model is trained to reach the random target point reliably using Proximal Policy Optimization (PPO). To train and test M-BRIC, NVIDIA Isaac Gym is adopted, which is a state-of-the-art physics simulation and supports superfast parallel training. Finally, four reward functions with different characteristics are designed, and the tracking performances of the controller trained with each reward function are compared in the simulation.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122136277","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

Simulation Study on the Locomotion Algorithm of Variable Topology Truss Robot based on Motion Primitives 基于运动基元的变拓扑桁架机器人运动算法仿真研究

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826275

Y. Moon, Jangho Bae, Mark H. Yim, Taewon Seo

引用次数: 0

Implementation of a Large-Scale Biped Robot Using Serial-Parallel Hybrid Leg Mechanism 采用串并联混合腿机构实现大型双足机器人

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826239

Kevin G. Gim, Joohyung Kim

引用次数: 0

Neural Network Model of eFAST Target Prediction for Robotic Ultrasound Diagnostics in Austere Environments 恶劣环境下机器人超声诊断eFAST目标预测的神经网络模型

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826265

Jaeyeon Lee, Ethan Quist, Stan German, Michael Kim, Nathaniel Fisher

{"title":"Neural Network Model of eFAST Target Prediction for Robotic Ultrasound Diagnostics in Austere Environments","authors":"Jaeyeon Lee, Ethan Quist, Stan German, Michael Kim, Nathaniel Fisher","doi":"10.1109/ur55393.2022.9826265","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826265","url":null,"abstract":"Modern robotic technology has the potential to solve complex problems in healthcare, such as providing technology to support medical care in austere environments characterized by the restricted availability of local medical professionals or with high patient-to-caregiver ratios. Medical robots can be deployed as a force multiplier in situations when skilled healthcare providers are limited and can reduce the risk of medical failures during diagnostic and intervention procedures. One example is detecting free-flowing blood in the abdomen and pneumothorax by performing the extended Focused Assessment with Sonography for Trauma (eFAST) ultrasound diagnostics examination. We developed a semi-autonomous robotic ultrasound system that intelligently perceives the patient’s pose and determines the corresponding eFAST configuration for the robotic-assisted procedure. The dynamic pose of the patient is identified in real-time using an optimization-based algorithm, while the eFAST configurations are predicted by a neural network model. A robot manipulator holding an ultrasound device is autonomously driven to the body-normal vector of each eFAST target. This approach accomplishes robust prediction for non-linear problems, even with dynamic posture of the detected body in highly unstructured sites with variable patient shape and pose.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133050808","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

An UV Sensor Coverage Algorithm with Place Segmentation for Disinfection Robots 基于位置分割的消毒机器人紫外传感器覆盖算法

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826291

Ye-Chan An, Sunghyeon Joo, Arpan Ghosh, HyunJi Park, Tae-Yong Kuc

引用次数: 1

UAV Autonomous Indoor Exploration and Mapping for SAR Missions: Reflections from the ICUAS 2022 Competition 面向SAR任务的无人机自主室内探测与制图:来自ICUAS 2022竞赛的思考

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/UR55393.2022.9866527

A. Farooq, Antreas Anastasiou, N. Souli, C. Laoudias, P. Kolios, T. Theocharides

{"title":"UAV Autonomous Indoor Exploration and Mapping for SAR Missions: Reflections from the ICUAS 2022 Competition","authors":"A. Farooq, Antreas Anastasiou, N. Souli, C. Laoudias, P. Kolios, T. Theocharides","doi":"10.1109/UR55393.2022.9866527","DOIUrl":"https://doi.org/10.1109/UR55393.2022.9866527","url":null,"abstract":"The technological advancement in Unmanned Aerial Vehicles (UAVs) or drones and their deployment in real-life Search and Rescue (SAR) missions is imminent. We, therefore, present a perception-aware autonomous exploration framework aimed at performing vision-based target detection and collision avoidance with an Unmanned Aerial Vehicle (UAV). The UAV utilizes a depth camera for maneuvering and finding the target. The underlying indoor exploration approach considers autonomous collision-free navigation, as well as target detection with a ballistic ball payload delivery without a prior map. Moreover, the proposed method allows safe navigation in enclosed unknown areas congested with randomly positioned obstacles and target locations. Our underlined end-to-end system architecture integrates the proposed exploration strategy. Extensive simulation experiments, using several Key Performance Indicators (KPIs), showcase the effectiveness of the proposed Robot Operating System (ROS) framework in a simulated Gazebo environment under various parameter settings.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126979819","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: 3