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Intelligent Service Robotics最新文献

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Detecting deformation of a soft cylindrical structure using piezoelectric sensors 利用压电传感器检测软圆柱结构的变形
4区 计算机科学
Intelligent Service Robotics Pub Date : 2023-09-19 DOI: 10.1007/s11370-023-00484-4
Jiyong Min, Hojoon Kim, Youngsu Cha
{"title":"Detecting deformation of a soft cylindrical structure using piezoelectric sensors","authors":"Jiyong Min, Hojoon Kim, Youngsu Cha","doi":"10.1007/s11370-023-00484-4","DOIUrl":"https://doi.org/10.1007/s11370-023-00484-4","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135059842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Actuator-level motion and contact episode learning and classification using adaptive resonance theory 基于自适应共振理论的执行器级运动与接触事件学习与分类
4区 计算机科学
Intelligent Service Robotics Pub Date : 2023-09-12 DOI: 10.1007/s11370-023-00481-7
Vinzenz Bargsten, Frank Kirchner
{"title":"Actuator-level motion and contact episode learning and classification using adaptive resonance theory","authors":"Vinzenz Bargsten, Frank Kirchner","doi":"10.1007/s11370-023-00481-7","DOIUrl":"https://doi.org/10.1007/s11370-023-00481-7","url":null,"abstract":"Abstract Several methods exist to detect and distinguish collisions of robotic systems with their environment, since this information is a critical dependency of many tasks. These methods are prevalently based on thresholds in combination with filters, models, or offline trained machine learning models. To improve the adaptation and thereby enable a more autonomous operation of robots in new environments, this work evaluates the applicability of an incremental learning approach. The method addresses online learning and recognition of motion and contact episodes of robotic systems from proprioceptive sensor data using machine learning. The objective is to learn new category templates representing previously encountered situations of the actuators and improve them based on newly gathered similar data. This is achieved using an artificial neural network based on adaptive resonance theory (ART). The input samples from the robot’s actuator measurements are preprocessed into frequency spectra. This enables the ART neural network to learn incrementally recurring episodic patterns from these preprocessed data. An evaluation based on preliminary experimental data from a grasping motion of a humanoid robot’s arm encountering contacts is presented and suggests that this is a promising approach.","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135879511","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Lmapping: tightly-coupled LiDAR-inertial odometry and mapping for degraded environments Lmapping:用于退化环境的紧密耦合lidar -惯性里程计和mapping
4区 计算机科学
Intelligent Service Robotics Pub Date : 2023-09-11 DOI: 10.1007/s11370-023-00482-6
Jingliang Zou, Liang Shao, Heshen Tang, Huangsong Chen, Haoran Bao, Xiaoming Pan
{"title":"Lmapping: tightly-coupled LiDAR-inertial odometry and mapping for degraded environments","authors":"Jingliang Zou, Liang Shao, Heshen Tang, Huangsong Chen, Haoran Bao, Xiaoming Pan","doi":"10.1007/s11370-023-00482-6","DOIUrl":"https://doi.org/10.1007/s11370-023-00482-6","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135981716","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Posture stabilizing control of quadruped robot based on cart-inverted pendulum model 基于小车-倒立摆模型的四足机器人姿态稳定控制
IF 2.5 4区 计算机科学
Intelligent Service Robotics Pub Date : 2023-08-23 DOI: 10.1007/s11370-023-00480-8
Kyu-Chur Han, Jung-Yup Kim
{"title":"Posture stabilizing control of quadruped robot based on cart-inverted pendulum model","authors":"Kyu-Chur Han, Jung-Yup Kim","doi":"10.1007/s11370-023-00480-8","DOIUrl":"https://doi.org/10.1007/s11370-023-00480-8","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"1 1","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42721459","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
IQ-VIO: adaptive visual inertial odometry via interference quantization under dynamic environments IQ-VIO：动态环境下通过干涉量化实现的自适应视觉惯性里程计
IF 2.5 4区 计算机科学
Intelligent Service Robotics Pub Date : 2023-08-23 DOI: 10.1007/s11370-023-00478-2
Huikun Zhang, Feng Ye, Yizong Lai, Kuo Li, Jinze Xu
{"title":"IQ-VIO: adaptive visual inertial odometry via interference quantization under dynamic environments","authors":"Huikun Zhang, Feng Ye, Yizong Lai, Kuo Li, Jinze Xu","doi":"10.1007/s11370-023-00478-2","DOIUrl":"https://doi.org/10.1007/s11370-023-00478-2","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":" ","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46570891","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Adaptive RBF neural network-computed torque control for a pediatric gait exoskeleton system: an experimental study 儿童步态外骨骼系统的自适应RBF神经网络计算转矩控制:实验研究
IF 2.5 4区 计算机科学
Intelligent Service Robotics Pub Date : 2023-08-22 DOI: 10.1007/s11370-023-00477-3
Jyotindra Narayan, Mohamed Abbas, Bhavik Patel, S. K. Dwivedy
{"title":"Adaptive RBF neural network-computed torque control for a pediatric gait exoskeleton system: an experimental study","authors":"Jyotindra Narayan, Mohamed Abbas, Bhavik Patel, S. K. Dwivedy","doi":"10.1007/s11370-023-00477-3","DOIUrl":"https://doi.org/10.1007/s11370-023-00477-3","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":" ","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44080239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Kinematics and stiffness analysis of a wheelchair-based cable-actuated ankle rehabilitation robot with flexure-based variable-stiffness devices 基于柔性变刚度装置的轮椅式缆索驱动踝关节康复机器人运动学与刚度分析
IF 2.5 4区 计算机科学
Intelligent Service Robotics Pub Date : 2023-08-14 DOI: 10.1007/s11370-023-00479-1
Kaisheng Yang, Yuguo Cui, W. Peng, Haili Li, Guilin Yang
{"title":"Kinematics and stiffness analysis of a wheelchair-based cable-actuated ankle rehabilitation robot with flexure-based variable-stiffness devices","authors":"Kaisheng Yang, Yuguo Cui, W. Peng, Haili Li, Guilin Yang","doi":"10.1007/s11370-023-00479-1","DOIUrl":"https://doi.org/10.1007/s11370-023-00479-1","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":" ","pages":""},"PeriodicalIF":2.5,"publicationDate":"2023-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46884602","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Study on force control for robot massage with a model-based reinforcement learning algorithm 基于模型的强化学习算法在机器人按摩力控制中的应用研究
IF 2.5 4区 计算机科学
Intelligent Service Robotics Pub Date : 2023-08-07 DOI: 10.1007/s11370-023-00474-6
Meng Xiao, Tie Zhang, Yanbiao Zou, Xiaohu Yan, Wen Wu
{"title":"Study on force control for robot massage with a model-based reinforcement learning algorithm","authors":"Meng Xiao, Tie Zhang, Yanbiao Zou, Xiaohu Yan, Wen Wu","doi":"10.1007/s11370-023-00474-6","DOIUrl":"https://doi.org/10.1007/s11370-023-00474-6","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"16 1","pages":"509 - 519"},"PeriodicalIF":2.5,"publicationDate":"2023-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48341404","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Multi-UAV cooperative search and coverage control in post-disaster assessment: experimental implementation 灾后评估中多无人机协同搜索与覆盖控制:实验实现
IF 2.5 4区 计算机科学
Intelligent Service Robotics Pub Date : 2023-08-03 DOI: 10.1007/s11370-023-00476-4
A. Aminzadeh, A. Khoshnood
{"title":"Multi-UAV cooperative search and coverage control in post-disaster assessment: experimental implementation","authors":"A. Aminzadeh, A. Khoshnood","doi":"10.1007/s11370-023-00476-4","DOIUrl":"https://doi.org/10.1007/s11370-023-00476-4","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"16 1","pages":"415 - 430"},"PeriodicalIF":2.5,"publicationDate":"2023-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48914536","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A walking and climbing quadruped robot capable of ground-wall transition: design, mobility analysis and gait planning 具有地-墙过渡能力的行走和攀爬四足机器人:设计、机动性分析和步态规划
IF 2.5 4区 计算机科学
Intelligent Service Robotics Pub Date : 2023-07-18 DOI: 10.1007/s11370-023-00475-5
Shengchang Fang, S. Shi, Xuan Wu, Xiaojie Wang
{"title":"A walking and climbing quadruped robot capable of ground-wall transition: design, mobility analysis and gait planning","authors":"Shengchang Fang, S. Shi, Xuan Wu, Xiaojie Wang","doi":"10.1007/s11370-023-00475-5","DOIUrl":"https://doi.org/10.1007/s11370-023-00475-5","url":null,"abstract":"","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"16 1","pages":"431 - 451"},"PeriodicalIF":2.5,"publicationDate":"2023-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44508778","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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