2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第7页

Development of a Conveyor-Type Object Release Mechanism for a Parallel Gripper with a Mushroom-Shaped Gecko-Inspired Surface 蘑菇形壁虎面平行夹持器输送带式物体释放机构的研制

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981232

Shunsuke Nagahama, A. Nakao, S. Sugano

{"title":"Development of a Conveyor-Type Object Release Mechanism for a Parallel Gripper with a Mushroom-Shaped Gecko-Inspired Surface","authors":"Shunsuke Nagahama, A. Nakao, S. Sugano","doi":"10.1109/IROS47612.2022.9981232","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981232","url":null,"abstract":"A surface microstructure that mimics the surface of a gecko's foot can exert a large gripping force with a small contact force. If such a structure is applied to the fingertips of a two-fingered parallel gripper, stable grasping can be achieved independent of the wetting and frictional state of the contact surface. However, the adhesive force of the microstructure is large while releasing the object, which hinders the release of the object. In this study, we developed a release method using a conveyor mechanism that easily peels off in the direction of rotation with a focus on the characteristics of the micro-protrusion structure. This mechanism is driven in conjunction with the gripper's grasping and releasing motions. Our experiments confirmed that the gripper can stably release the object using the proposed mechanism. The proposal in this paper is a mechanism that dynamically changes the adhesive force on a fingertip by mechanically switching the surface state in accordance with the gripper's grasping and releasing states. This idea can be applied to not only surface microstructure such as gecko-inspired surfaces but also adhesive surfaces such as adhesive tape, and provides novel knowledge in the field of robotics as a method of mechanically changing the fingertip adhesive force.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"394 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133502041","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 Hybrid PSO Algorithm for Multi-robot Target Search and Decision Awareness 多机器人目标搜索与决策感知的混合粒子群算法

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9982022

J. Ebert, F. Berlinger, Bahar Haghighat, R. Nagpal

{"title":"A Hybrid PSO Algorithm for Multi-robot Target Search and Decision Awareness","authors":"J. Ebert, F. Berlinger, Bahar Haghighat, R. Nagpal","doi":"10.1109/IROS47612.2022.9982022","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9982022","url":null,"abstract":"Groups of robots can be tasked with identifying a location in an environment where a feature cue is past a threshold, then disseminating this information throughout the group – such as identifying a high-enough elevation location to place a communications tower. This is a continuous-cue target search, where multi-robot search algorithms like particle swarm optimization (PSO) can improve search time through parallelization. However, many robots lack global communication in large spaces, and PSO-based algorithms often fail to consider how robots disseminate target knowledge after a single robot locates it. We present a two-stage hybrid algorithm to solve this task: (1) locating a target with a variation of PSO, and (2) moving to maximize target knowledge across the group. We conducted parameter sweep simulations of up to 32 robots in a grid-based grayscale environment. Pre-decision, we find that PSO with a variable velocity update interval improves target localization. In the post-decision phase, we show that dispersion is the fastest strategy to communicate with all other robots. Our algorithm is also competitive with a coverage sweep benchmark, while requiring significantly less inter-individual coordination.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"475 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133470951","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

Improving the Efficiency of Sampling-based Motion Planners via Runtime Predictions for Motion-Planning Problems with Dynamics 基于动态运动规划问题的运行时预测提高基于采样的运动规划器的效率

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981753

Hoang-Dung Bui, Yuanjie Lu, E. Plaku

引用次数: 0

Modeling and Characterization of Artificial Bacteria Flagella with Micro-structured Soft-magnetic Teeth 微结构软磁牙人工细菌鞭毛的建模与表征

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981435

Zejie Yu, Chaojian Hou, Shuideng Wang, Kun Wang, Donglei Chen, Wenqi Zhang, Zhi Qu, Zhiyong Sun, Bo Song, Chao Zhou, Lixin Dong

{"title":"Modeling and Characterization of Artificial Bacteria Flagella with Micro-structured Soft-magnetic Teeth","authors":"Zejie Yu, Chaojian Hou, Shuideng Wang, Kun Wang, Donglei Chen, Wenqi Zhang, Zhi Qu, Zhiyong Sun, Bo Song, Chao Zhou, Lixin Dong","doi":"10.1109/IROS47612.2022.9981435","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981435","url":null,"abstract":"Sub-structures such as micro-structured magnetic teeth fabricated with an artificial bacteria flagellum (ABF) are designed for achieving more motion modes, higher precision, and better controllability. To achieve these, a more precise model considering the non-circular cross-sectional features is setup without simplifying the structure as a helical filament with a circular cross-section as having been used in previous investigations, making it possible to include the effects of the substructures into the motion equation. Analyses and experiments verified the correctness. Besides of the geometric effects, our experimental observation also shows an anomalous step-out frequency appeared in an ABF. This asynchronous motion is attributed to the lag of magnetization with respect to the external rotating magnetic field due to the geometries and the soft-magnetic materials of the ribbons, which is different from the regular asynchronous motion solely caused by low Reynolds number of fluid to microscopic swimmers. While the lag of magnetization can be further attributed initiatively to the soft magnetic materials adopted, the feasibility to arrange the easy axis will enable many new possibilities, which is of particular interest in generating more modes for swarms such as cascade stepping out of ABFs with the same nominal overall sizes and for more precise positioning using stepping motion.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132711982","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

Data-driven Kalman Filter with Kernel-based Koopman Operators for Nonlinear Robot Systems 非线性机器人系统的基于核库普曼算子的数据驱动卡尔曼滤波

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981408

Wei Jiang, Xinglong Zhang, Zhen Zuo, Meiping Shi, Shaojing Su

引用次数: 0

A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries 集成压电信标换能器的微型连续机器人及其超声形状检测在机器人辅助微创手术中的应用

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981700

Zhanpeng Yin, Yan Hong, Xiaoyu Sun, Zhiyuan Shen, Yingxuan Zhang, Feng Ju, B. Drinkwater

{"title":"A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries","authors":"Zhanpeng Yin, Yan Hong, Xiaoyu Sun, Zhiyuan Shen, Yingxuan Zhang, Feng Ju, B. Drinkwater","doi":"10.1109/IROS47612.2022.9981700","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981700","url":null,"abstract":"Minimally invasive surgeries (MIS) or natural orifice transluminal endoscopic surgeries (NOTES) such as the transurethral resection of bladder tumor (TURBT) require the surgical robot to be miniaturized to perform surgical procedures in confined spaces. However, the surgical robot's tiny size poses problems in its fabrication and shape sensing. In this paper, a miniature continuum surgical robot is proposed with a unique laminated structure which can be fabricated through a 2D lamination process and converted into 3D through folding. This multi-material laminated structure also facilitates the integration of tiny piezoelectric transducers on the robot's surface as beacons to generate ultrasonic waves for shape detection. A novel beacon total focusing method (b-TFM) algorithm is developed to process the received ultrasonic data and create a high-quality ultrasonic image from which the shape of the continuum robot can be extracted. The proposed robot and the ultrasonic shape detection method are validated through simulations and experiments. The error in the open-loop trajectory control is less than 4 mm without compensation, and the error in the ultrasonic shape detection is less than 1 mm. This confirms the possibility of improving the trajectory control accuracy by using the detected shape as a feedback for closed-loop control.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127374499","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

A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories 物体-接触轨迹长视界规划的分层框架

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981862

Bernardo Aceituno, Alberto Rodriguez

引用次数: 3

Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits 可变腿弹性对四足步态稳定性的影响

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9982204

Federico Del Fatti, Anna Sesselmann, M. Roa

{"title":"Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits","authors":"Federico Del Fatti, Anna Sesselmann, M. Roa","doi":"10.1109/IROS47612.2022.9982204","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9982204","url":null,"abstract":"Several template models have been developed to facilitate the analysis of limit-cycles for quadrupedal locomotion. The parameters in the model are usually fixed; however, biology shows that animals change their leg stiffness according to the locomotion velocity, and this adaptability invariably affects the stability of the gait. This paper provides an analysis of the influence of this variable leg stiffness on the stability of different quadrupedal gaits. The analysis exploits a simplified quadrupedal model with compliant legs and shoulder joints represented as torsional springs. This model can reproduce the most common quadrupedal gaits observed in nature. The stability of such emerging gaits is then checked. Afterward, an optimization process is used to search for the system parameters that guarantee maximum gait stability. Our study shows that using the highest feasible leg swing frequency and adopting a leg stiffness that increases with the speed of locomotion noticeably improves the gait stability over a wide range of horizontal velocities while reducing the oscillations of the trunk. This insight can be applied in the design of novel elastic quadrupedal robots, where variable stiffness actuators could be employed to improve the overall locomotion behavior.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115417690","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

End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy 基于肌肉冗余的肌肉骨骼机械臂末端刚度和关节粘度控制

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981712

Shoki Tsuboi, H. Kino, K. Tahara

引用次数: 1

Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor 7相无传感器步进电机的绝对位置检测

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981190

V. Groenhuis, Gijs Rolff, Koen Bosman, L. Abelmann, S. Stramigioli

{"title":"Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor","authors":"V. Groenhuis, Gijs Rolff, Koen Bosman, L. Abelmann, S. Stramigioli","doi":"10.1109/IROS47612.2022.9981190","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981190","url":null,"abstract":"Absolute position detection in sensorless electric stepper motors potentially allows for higher space efficiency, improved shock resistance, simplified installation, reduced number of parts and lowered cost. A prototype is demonstrated measuring 42 × 42 × 34 mm3 with seven coils arranged in a star configuration. The rotor is ϕ 25.8 × 12.5 mm2 and has 51 teeth which are irregularly spaced. At the driver side, the coil currents are measured during motion in order to reconstruct the absolute position of the motor. Calibration and smoothing techniques are used to reduce systematic and stochastic measurement errors, respectively. The motor is able to detect and correct its position after externally-induced stalls at the tested motor speeds from 40 rpm to 108 rpm. The holding torque is 0.23 N m at an armature current of 1 A; on average the torque is 7% lower than that of a reference bipolar stepper motor with the same dimensions. The results show that dynamic position sensing and correction are possible for a range of velocities, but not at standstill. The driver requires seven current sensors and sufficient computational power, and proper calibration of motor intrinsics is required beforehand. The presented technology could make existing 3-D printers and other machines with open-loop stepper motors more robust and increase the range of operating speeds and accelerations, without the adverse side-effects of increased complexity and cost associated with dedicated position sensors.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"291 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115608188","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