International Journal of Intelligent Robotics and Applications最新文献

{"title":"Research on optimal path sampling algorithm of manipulator based on potential function","authors":"Rui Shu, Minghai Yuan, Zhenyu Liang, Yingjie Sun, Fengque Pei","doi":"10.1007/s41315-023-00316-9","DOIUrl":"https://doi.org/10.1007/s41315-023-00316-9","url":null,"abstract":"<p>Aiming at the problems of low success rate, long time and tortuous path of the traditional Rapidly-exploring Random Trees series of algorithms for path planning, this paper proposes the optimal path sampling algorithm based on the potential function (AP-RRT*), which solves the path planning problem of the manipulator in three-dimensional space. First, the potential function is defined and the concept of sampling termination distance is proposed. Second, a secondary sampling strategy is proposed in combination with the potential function to improve the planning speed and increase the coverage rate. Third, adaptive weights and adaptive step size are used to dynamically adjust the planning direction and distance, thereby improving the planning efficiency. Moreover, when performing node reconnection, dynamic retrieval circles are set to ensure path quality while reducing computational consumption. Finally, the improved algorithm, along with other algorithms, is simulated and experimentally verified in MATLAB and ROS. The results show that the AP-RRT* algorithm is superior in terms of path length, planning time, iterations, number of waypoints and success rate.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-02-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139968941","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":"Fast autonomous exploration with sparse topological graphs in large-scale environments","authors":"Changyun Wei, Jianbin Wu, Yu Xia, Ze Ji","doi":"10.1007/s41315-023-00318-7","DOIUrl":"https://doi.org/10.1007/s41315-023-00318-7","url":null,"abstract":"<p>Exploring large-scale environments autonomously poses a significant challenge. As the size of environments increases, the computational cost becomes a hindrance to real-time operation. Additionally, while frontier-based exploration planning provides convenient access to environment frontiers, it suffers from slow global exploration speed. On the other hand, sampling-based methods can effectively explore individual regions but fail to cover the entire environment. To overcome these limitations, we present a hierarchical exploration approach that integrates frontier-based and sampling-based methods. It assesses the informational gain of sampling points by considering the quantity of frontiers in the vicinity, and effectively enhances exploration efficiency by utilizing a utility function that takes account of the direction of advancement for the purpose of selecting targets. To improve the search speed of global topological graph in large-scale environments, this paper introduces a method for constructing a sparse topological graph. It incrementally constructs a three-dimensional sparse topological graph by dynamically capturing the spatial structure of free space through uniform sampling. In various challenging simulated environments, the proposed approach demonstrates comparable exploration performance in comparison with the state-of-the-art approaches. Notably, in terms of computational efficiency, the single iteration time of our approach is less than one-tenth of that required by the recent advances in autonomous exploration.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139771463","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":"Design and experiment of a variable stiffness soft manipulator for non-destructive grasping","authors":"","doi":"10.1007/s41315-024-00320-7","DOIUrl":"https://doi.org/10.1007/s41315-024-00320-7","url":null,"abstract":"<h3>Abstract</h3> <p>With the advantages of high flexibility, high safety, and good adhesion and wrapping, soft robots have a wide range of application prospects in complex environments such as automatic production lines and medical surgery. By coupling an active pneumatic drive structure and an interference variable stiffness mechanism, this paper designs a soft robot based on a variable stiffness pneumatic actuator. Based on kinematic analysis and finite element simulation based on the segmented constant curvature method, the Lagrange equations are applied to perform dynamic analysis, which in turn verifies the variable stiffness performance and bending performance of the variable-stiffness soft robotic arm. The soft manipulator adopts the structural design based on 2 mm thickness, jamming mechanism and coupling fiber layer, which can effectively resist 0–2.5 N force without large deviation and be adjustable in the stiffness range of (0.025–0.12) N/mm, under the condition that the vacuum degree does not exceed 80 kPa. The stiff stiffness and bending behavior of the proposed soft manipulator show excellent performance and can be applied to industrial automation, medical devices and other operations.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139771554","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":"Fast terminal sliding mode control with rapid reaching law for a pediatric gait exoskeleton system","authors":"","doi":"10.1007/s41315-023-00314-x","DOIUrl":"https://doi.org/10.1007/s41315-023-00314-x","url":null,"abstract":"<h3>Abstract</h3> <p>The parametric variations and external perturbations in the coupled subject-exoskeleton system delay and hinder effective gait tracking in clinical rehabilitation. This problem becomes more challenging in the case of the pediatric exoskeleton system. In this work, to address this benchmark challenge, a fast terminal sliding mode with a rapid reaching law (FTSM-RRL) control scheme is introduced for an uncertain lower-extremity exoskeleton aimed at assisting pediatric gait under different walking speeds. At first, the computer-aided design of the gait exoskeleton system is demonstrated with details of the desired gait trajectories of a male boy aged 12 years (weight: 40 kg, height: 132 cm). A fast terminal sliding mode controller is proposed with a varied exponential approaching rule to guarantee the rapid convergence of system states on the sliding manifold and then towards the origin in a finite period. After that, an upper limit criterion is involved within the reaching control law to compensate for the adverse effects of uncertainties and disturbances as a lumped parameter. Lyapunov’s theory is presented to ensure the expeditious convergence of the tracking error in the reaching and sliding phases. The proposed FTSM-RRL strategy is incorporated to obtain the desired trajectory tracking at slow, self-selected, and fast walking speeds. From numerical experiments, the proposed FTSM-RRL controller is found to be consistently effective (<span> <span>(&gt; 71%)</span> </span> in X-direction and <span> <span>(&gt; 62%)</span> </span> in Y-direction) over the PID controller and (<span> <span>(&gt; 7%)</span> </span> in X-direction and <span> <span>(&gt; 10%)</span> </span> in Y-direction) over the FTSM-ERL controller. In joint space, the proposed FTSM-RRL control consistently surpasses both PID and FTSM-ERL controls in tracking hip movement. While the proposed controller outperforms PID and FTSM-ERL for knee joint tracking, the extent of improvement diminishes at higher speeds. For ankle joint tracking, the proposed control exhibits substantial enhancement at slow speeds but comparatively poorer performance at self-selected and fast speeds when compared to PID control. However, FTSM-RRL consistently outperforms FTSM-ERL across all speeds for ankle joint tracking. Compared to FTSM-ERL control, the proposed FTSM-RRL control accelerates the hip and knee joint sliding surface convergence by 0.52s and 0.24s (slow walking), 0.55s and 0.33s (self-selected walking), and 0.61s and 0.09s (fast walking). The results obtained in this study ensure fast and efficient passive-assist gait training for the pediatric groups using exoskeleton technology.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139771462","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":"Advancements in robot-assisted incremental sheet hydroforming: a comparative analysis of formability, mechanical properties, and surface finish for rhomboidal and conical frustums","authors":"Ravi Prakash Singh, Santosh Kumar, Pankaj Kumar Singh, Md. Meraz, Sachin Salunkhe","doi":"10.1007/s41315-023-00311-0","DOIUrl":"https://doi.org/10.1007/s41315-023-00311-0","url":null,"abstract":"<p>Incremental sheet forming (ISF) is a highly versatile and flexible process for small batch production of complex sheet metal parts. Since, there is no die used in the process, the accuracy of the parts formed is an area of concern in ISF. In the current work, an experimental set-up was developed for robot assisted incremental sheet hydroforming (RAISHF) and was conducted on AA3105 to fabricate different shapes. Formability by RAISHF was found to be better than robot assisted incremental sheet forming (RAISF) due to fluid pressure from the back of the sheet which can be impart more ductility to the sheet. Additionally, a more uniform thickness was achieved by the RAISHF. A variable wall angle conical frustum (VWACF) was fabricated by each process and their formability was compared. The maximum wall angle before the onset of fracture was 73° and 64° by the process of RAISHF and RAISF, respectively. Also the thickness along the length of the cone was more uniform by RAISHF than RAISF. Further, the effect of curvature on mechanical properties and surface finish of the formed product by RAISHF was examined by fabricating a rhomboidal and conical frustums of a fixed wall angle of 45°. Tensile test and surface finish test were conducted on the samples taken from the two types of frustums. Mechanical properties and surface finish were found better of the rhomboidal frustum due to flat wall.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139771458","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":"References tracking and perturbations reconstruction in a Cartesian robot","authors":"José de Jesús Rubio, Daniel Andres Cordova, Mario Alberto Hernandez, Eduardo Orozco, Francisco Javier Rosas, Guadalupe Juliana Gutierrez, Jesus Alberto Meda-Campaña, Carlos Aguilar-Ibañez","doi":"10.1007/s41315-023-00315-w","DOIUrl":"https://doi.org/10.1007/s41315-023-00315-w","url":null,"abstract":"<p>An exosystem needs to be nonlinear when it generates the perturbations to be reconstructed; however, an exosystem does not need to be nonlinear when it generates the references to be tracked. Resulting that the tracking of the references generated by an exosystem is an easier task. Hence, some studies on the references tracking should be made. Furthermore, to solve the references tracking, the perturbations are needed. In this research, the references tracking and the perturbations reconstruction in a Cartesian robot are discussed. For the perturbations reconstruction, an estimator is defined to force the reconstructed perturbations to track the perturbations of a Cartesian robot model. For the references tracking, a controller is defined to force a Cartesian robot model to track an exosystem. A theorem is addressed to prove the perturbations reconstruction. A theorem is addressed to prove the references tracking. A simulation in a Cartesian robot is used to confirm the validity and effectiveness of our controller with estimator in comparison with a feedback controller.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139771461","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":"Robust tracking control of a three-degree-of-freedom robot manipulator with disturbances using an integral sliding mode controller","authors":"Irfan Ali, Mohsan Hassan, Zarqa Bano, Zhang Chunwei","doi":"10.1007/s41315-023-00312-z","DOIUrl":"https://doi.org/10.1007/s41315-023-00312-z","url":null,"abstract":"<p>Robot systems often face highly nonlinear manipulator dynamics and uncertainties such as external disturbances, payload variations, and end effector modeling errors. Therefore, it is of great industrial importance to compute and simulate the dynamic response of these manipulators in a reliable manner. This research investigates a robust control strategy—Integral Sliding Mode Control (ISMC)—applied to a three-degree-of-freedom robot manipulator with external disturbances. The study consists of two stages. The first stage uses Proportional-Derivative (PD) control with dynamically calculated weight values in the absence of the external disturbances. In the second stage, ISMC is employed to address dynamic responses to disturbances. The computation work on the model is implemented in Mathematica software, and a three-joint SCARA-type robot is tested to demonstrate methodology robustness. In the end, stability is ensured through Lypunove function analysis and the sliding surface's phase portrait.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139495582","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":"A strong and fast millimeter-sized soft pneumatic actuator based on alternative pole water electrolysis","authors":"Hadi Kolivand, Azita Souri, Arash Ahmadi","doi":"10.1007/s41315-023-00307-w","DOIUrl":"https://doi.org/10.1007/s41315-023-00307-w","url":null,"abstract":"<p>A new soft pneumatic microactuator based on alternative pole water electrolysis has recently been proposed. In these actuators, a water-based electrolyte is electrolyzed under an alternative current, generating hydrogen/oxygen nanobubbles/microbubbles. These bubbles cause the expansion of the electrolyte, resulting in the displacement of the actuator membrane. These actuators stand out for their lightweight design, cost-effectiveness, high performance, and versatility for various applications. In this paper, a strong and fast millimeter-sized actuator based on alternative pole water electrolysis is proposed. The proposed actuator, electronic driver circuits, and measurement systems is implemented, and some experiments to investigate the actuator’s performance under different conditions, including input variables such as voltage, time, temperature, and mass load are conducted. Our experimental results and comparisons with other actuators demonstrate that the proposed actuator exhibits favorable properties in terms of response time, output mechanical force, reliability, scalability, and simplicity of manufacturing. The versatility of this actuator makes it suitable for a wide range of soft robotics applications, including limb movement and manipulation. Additionally, it has potential medical applications such as microrobotics for navigation in narrow body channels for diagnosis, sampling, drug delivery, and surgery.</p><h3 data-test=\"abstract-sub-heading\">Graphical abstract</h3>\u0000","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139458737","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":"A review on quadrotor attitude control strategies","authors":"","doi":"10.1007/s41315-023-00308-9","DOIUrl":"https://doi.org/10.1007/s41315-023-00308-9","url":null,"abstract":"<h3>Abstract</h3> <p>Quadrotors have been more frequently used in different areas, from aerial photography to drug delivery in medical emergencies. These vehicles have high maneuverability, which makes them suitable for carrying out missions that humans would not be able to do due to physical constraints. They can be used in inhospitable environments where the physical integrity and health of humans would be compromised. However, they are highly nonlinear and multivariable systems whose dynamics are strongly coupled. These characteristics turn attitude control design into a complex task. Furthermore, the controller has to be able to deal with uncertainties and exogenous disturbances in practice, intensifying the difficulty of the control problem. Therefore, a quadrotor attitude control must have high robustness and fast response without compromising its global stability. Aiming to gather solutions to this control problem, this article provides a detailed and in-depth discussion on quadrotor attitude control strategies for flight control designers, including angular representation, controller stability, fault tolerance, actuator saturation, and strategies for exogenous disturbance rejection.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139420921","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":"Multi-robot system for inspection of underwater pipelines in shallow waters","authors":"Sahejad Patel, Fadl Abdellatif, Mohammed Alsheikh, Hassane Trigui, Ali Outa, Ayman Amer, Mohammed Sarraj, Ahmed Al Brahim, Yazeed Alnumay, Amjad Felemban, Ali Alrasheed, Abdulwahab Halawani, Hesham Jifri, Hassan Jaleel, Jeff Shamma","doi":"10.1007/s41315-023-00309-8","DOIUrl":"https://doi.org/10.1007/s41315-023-00309-8","url":null,"abstract":"<p>Shallow Water Inspection &amp; Monitoring Robot (SWIM-R) is designed to quickly and safely inspect oil and gas pipelines in extremely shallow waters. Divers clean and inspect pipeline joints. However, diving operations are slow in shallow waters as diving support ships cannot access shallow depths. Remotely operated vehicles (ROVs) that can perform cleaning and inspection are typically suited for deeper regions and are too large for smaller boats that navigate in shallow areas. To resolve this challenge, two SWIM-R vehicles and a companion Autonomous Surface Vehicle (ASV) were developed as a multi-robot system to minimize the reliance on divers for pipeline inspection. A unique mission architecture is presented that avails three operating modes depending on the depth; direct control from the shore, relayed control via the ASV, and direct control from a small zodiac. The mission architecture includes two ROVs; a Cleaning SWIM-R fitted with a water-jet nozzle to clean marine growth from the surface to be inspected, and an Inspection SWIM-R fitted with a neutrally-buoyant multi-functional robotic arm to inspect the surface and crawling tracks to traverse the seafloor. This multi-robot system was field tested, which proved its efficacy in inspecting oil and gas assets in shallow waters.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139420850","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}