Frontiers in Robotics and AI最新文献_第7页

Evaluation of different robotic grippers for simultaneous multi-object grasping. 评估用于同时抓取多个物体的不同机器人抓手。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-07 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1351932

Werner Friedl

{"title":"Evaluation of different robotic grippers for simultaneous multi-object grasping.","authors":"Werner Friedl","doi":"10.3389/frobt.2024.1351932","DOIUrl":"10.3389/frobt.2024.1351932","url":null,"abstract":"For certain tasks in logistics, especially bin picking and packing, humans resort to a strategy of grasping multiple objects simultaneously, thus reducing picking and transport time. In contrast, robotic systems mainly grasp only one object per picking action, which leads to inefficiencies that could be solved with a smarter gripping hardware and strategies. Development of new manipulators, robotic hands, hybrid or specialized grippers, can already consider such challenges for multi-object grasping in the design stages. This paper introduces different hardware solutions and tests possible grasp strategies for the simultaneous grasping of multiple objects (SGMO). The four hardware solutions presented here are: an under-actuated Constriction Gripper, Linear Scoop Gripper suitable for deform-able object grasping, Hybrid Compliant Gripper equipped with mini vacuum gripper on each fingertip, and a Two-finger Palm Hand with fingers optimized by simulation in pybullet for maximum in-hand manipulation workspace. Most of these hardware solutions are based on the DLR CLASH end-effector and have variable stiffness actuation, high impact robustness, small contact forces, and low-cost design. For the comparison of the capability to simultaneously grasp multiple objects and the capability to grasp a single delicate object in a cluttered environment, the manipulators are tested with four different objects in an extra designed benchmark. The results serve as guideline for future commercial applications of these strategies.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1351932"},"PeriodicalIF":2.9,"publicationDate":"2024-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11578830/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142689207","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: 0

Editorial: Variable autonomy for human-robot teaming. 社论：人机协作的可变自主性。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-06 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1465183

Andreas Theodorou, Manolis Chiou, Bruno Lacerda, Simon Rothfuß

引用次数: 0

Survey of learning-based approaches for robotic in-hand manipulation. 基于学习的机器人手部操作方法概览。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-05 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1455431

Abraham Itzhak Weinberg, Alon Shirizly, Osher Azulay, Avishai Sintov

{"title":"Survey of learning-based approaches for robotic in-hand manipulation.","authors":"Abraham Itzhak Weinberg, Alon Shirizly, Osher Azulay, Avishai Sintov","doi":"10.3389/frobt.2024.1455431","DOIUrl":"10.3389/frobt.2024.1455431","url":null,"abstract":"Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human environment, and for their ability to replace manpower. In recent decades, significant effort has been put in order to enable in-hand manipulation capabilities to robotic systems. Initial robotic manipulators followed carefully programmed paths, while later attempts provided a solution based on analytical modeling of motion and contact. However, these have failed to provide practical solutions due to inability to cope with complex environments and uncertainties. Therefore, the effort has shifted to learning-based approaches where data is collected from the real world or through a simulation, during repeated attempts to complete various tasks. The vast majority of learning approaches focused on learning data-based models that describe the system to some extent or Reinforcement Learning (RL). RL, in particular, has seen growing interest due to the remarkable ability to generate solutions to problems with minimal human guidance. In this survey paper, we track the developments of learning approaches for in-hand manipulations and, explore the challenges and opportunities. This survey is designed both as an introduction for novices in the field with a glossary of terms as well as a guide of novel advances for advanced practitioners.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1455431"},"PeriodicalIF":2.9,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11573780/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142676680","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: 0

Controller design and experimental validation of walking for a musculoskeletal bipedal lower limb robot based on the spring-loaded inverted pendulum model. 基于弹簧加载倒立摆模型的肌肉骨骼双足下肢机器人行走控制器设计与实验验证。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-05 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1449721

Yiqi Li, Yelin Jiang, Koh Hosoda

{"title":"Controller design and experimental validation of walking for a musculoskeletal bipedal lower limb robot based on the spring-loaded inverted pendulum model.","authors":"Yiqi Li, Yelin Jiang, Koh Hosoda","doi":"10.3389/frobt.2024.1449721","DOIUrl":"10.3389/frobt.2024.1449721","url":null,"abstract":"In the study of PAM (McKibben-type pneumatic artificial muscle)-driven bipedal robots, it is essential to investigate whether the intrinsic properties of the PAM contribute to achieving stable robot motion. Furthermore, it is crucial to determine if this contribution can be achieved through the interaction between the robot's mechanical structure and the PAM. In previous research, a PAM-driven bipedal musculoskeletal robot was designed based on the principles of the spring-loaded inverted pendulum (SLIP) model. The robot features low leg inertia and concentrated mass near the hip joint. However, it is important to note that for this robot, only the design principles were based on the SLIP model, and no specialized controller was specifically designed based on the model. To address this issue, based on the characteristics of the developed robot, a PAM controller designed also based on the SLIP model is developed in this study. This model-based controller regulates ankle flexion PAM to adjust the direction of the ground reaction force during robot walking motion. The results indicate that the proposed controller effectively directs the leg ground reaction force towards the center of mass during walking.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1449721"},"PeriodicalIF":2.9,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11574207/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142676596","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: 0

Evolutionary robotics as a modelling tool in evolutionary biology. 作为进化生物学建模工具的进化机器人学。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-05 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1278983

Alan F T Winfield

引用次数: 0

Editorial: Pipeline inspection robots. 社论：管道检测机器人

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-05 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1497809

Lyudmila Mihaylova, Atsushi Kakogawa, Shugen Ma, Hyouk Ryeol Choi, Taro Nakamura

引用次数: 0

Addressing catastrophic forgetting in payload parameter identification using incremental ensemble learning. 利用增量集合学习解决有效载荷参数识别中的灾难性遗忘。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-11-04 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1470163

Wael Taie, Khaled ElGeneidy, Ali Al-Yacoub, Ronglei Sun

{"title":"Addressing catastrophic forgetting in payload parameter identification using incremental ensemble learning.","authors":"Wael Taie, Khaled ElGeneidy, Ali Al-Yacoub, Ronglei Sun","doi":"10.3389/frobt.2024.1470163","DOIUrl":"10.3389/frobt.2024.1470163","url":null,"abstract":"Collaborative robots (cobots) are increasingly integrated into Industry 4.0 dynamic manufacturing environments that require frequent system reconfiguration due to changes in cobot paths and payloads. This necessitates fast methods for identifying payload inertial parameters to compensate the cobot controller and ensure precise and safe operation. Our prior work used Incremental Ensemble Model (IEM) to identify payload parameters, eliminating the need for an excitation path and thus removing the separate identification step. However, this approach suffers from catastrophic forgetting. This paper introduces a novel incremental ensemble learning method that addresses the problem of catastrophic forgetting by adding a new weak learner to the ensemble model for each new training bag. Moreover, it proposes a new classification model that assists the ensemble model in identifying which weak learner provides the most accurate estimation for new input data. The proposed method incrementally updates the identification model while the cobot navigates any task path, maintaining accuracy on old weak learner even after updating with new data. Validation performed on the Franka Emika cobot showcases the model's superior accuracy and adaptability, effectively eliminating the problem of catastrophic forgetting.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1470163"},"PeriodicalIF":2.9,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11570578/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142669382","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: 0

Editorial: Vibration-based robot locomotion. 社论：基于振动的机器人运动

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-10-29 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1508130

Murat Reis, Silvio Cocuzza, Alberto Doria, Nurettin Gökhan Adar

引用次数: 0

Predicting humor effectiveness of robots for human line cutting. 预测机器人对人类生产线切割的幽默效果。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-10-29 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1407095

Yuto Ushijima, Satoru Satake, Takayuki Kanda

{"title":"Predicting humor effectiveness of robots for human line cutting.","authors":"Yuto Ushijima, Satoru Satake, Takayuki Kanda","doi":"10.3389/frobt.2024.1407095","DOIUrl":"https://doi.org/10.3389/frobt.2024.1407095","url":null,"abstract":"It is extremely challenging for security guard robots to independently stop human line-cutting behavior. We propose addressing this issue by using humorous phrases. First, we created a dataset and built a humor effectiveness predictor. Using a simulator, we replicated 13,000 situations of line-cutting behavior and collected 500 humorous phrases through crowdsourcing. Combining these simulators and phrases, we evaluated each phrase's effectiveness in different situations through crowdsourcing. Using machine learning with this dataset, we constructed a humor effectiveness predictor. In the process of preparing this machine learning, we discovered that considering the situation and the discomfort caused by the phrase is crucial for predicting the effectiveness of humor. Next, we constructed a system to select the best humorous phrase for the line-cutting behavior using this predictor. We then conducted a video experiment in which we compared the humorous phrases selected using this proposed system with typical non-humorous phrases. The results revealed that humorous phrases selected by the proposed system were more effective in discouraging line-cutting behavior than typical non-humorous phrases.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"11 ","pages":"1407095"},"PeriodicalIF":2.9,"publicationDate":"2024-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11554535/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142630036","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: 0

Editorial: Human-centered solutions and synergies across robotic and digital systems for rehabilitation. 社论：以人为本的解决方案以及机器人和数字康复系统的协同作用。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2024-10-29 eCollection Date: 2024-01-01 DOI: 10.3389/frobt.2024.1462558

Giacinto Barresi, Ana Lúcia Faria, Marta Matamala-Gomez, Edward Grant, Philippe S Archambault, Giampaolo Brichetto, Thomas Platz

引用次数: 0