Robotics and Autonomous Systems最新文献_第10页

Inspection robot GPS outages localization based on error Kalman filter and deep learning 基于误差卡尔曼滤波和深度学习的巡检机器人 GPS 故障定位

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-18 DOI: 10.1016/j.robot.2024.104824

Yansheng Li, Haoyang Yu, Lingli Xiao, Yiyang Yuan

{"title":"Inspection robot GPS outages localization based on error Kalman filter and deep learning","authors":"Yansheng Li, Haoyang Yu, Lingli Xiao, Yiyang Yuan","doi":"10.1016/j.robot.2024.104824","DOIUrl":"10.1016/j.robot.2024.104824","url":null,"abstract":"<div><div>In urban environments, inspection robots face complex terrain and variable motion states, posing high demands on their positioning systems. Although the integration of Micro-Electro-Mechanical Systems Inertial Navigation Systems (MEMS-INS) with the Global Positioning System (GPS) provides continuous positioning information, high buildings and tunnels in cities can block GPS signals, leading to signal interruptions and increased positioning errors. During GPS outages, MEMS-INS gradually accumulates errors, severely affecting positioning accuracy. To address this issue, this paper proposes an adaptive error state Kalman Filter (AESKF), which employs an adaptive mechanism to eliminate the noise impact of MEMS-INS and reduce reliance on the process model. Additionally, a deep learning framework based on the Self-Attention mechanism of the Transformer and a custom loss function Long Short-Term Memory (LSTM) module is proposed to predict position increments of the inspection robot. Combining AESKF with Transformer-LSTM achieves optimized positioning accuracy of the inspection robot during GPS outages in dynamic urban environments. Simulation and practical experimental results demonstrate that the combination of AESKF and Transformer-LSTM significantly improves positioning accuracy. Compared to other mature methods, the Root Mean Square Error (RMSE) of positioning is reduced by up to 83.64 % in the north direction and 89.56 % in the east direction. When the GPS signal interruption lasts for 10 s and 60 s, the maximum position error standard deviation (STD) is 0.1186 m and 1.0417 m, respectively.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"183 ","pages":"Article 104824"},"PeriodicalIF":4.3,"publicationDate":"2024-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142553697","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Design of exoskeleton brain-like intelligent trajectory prediction model based on echo state network 基于回波状态网络的外骨骼类脑智能轨迹预测模型设计

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-17 DOI: 10.1016/j.robot.2024.104836

Wendong Wang , Chenyang Wang , Xiaoqing Yuan , Songyun Xie , Jinming Liu

{"title":"Design of exoskeleton brain-like intelligent trajectory prediction model based on echo state network","authors":"Wendong Wang , Chenyang Wang , Xiaoqing Yuan , Songyun Xie , Jinming Liu","doi":"10.1016/j.robot.2024.104836","DOIUrl":"10.1016/j.robot.2024.104836","url":null,"abstract":"<div><div>Traditional rehabilitation training methods face significant challenges, such as low repeatability and a shortage of skilled physicians. Exoskeleton robots have been recognized by rehabilitation experts as valuable tools in addressing these issues. However, current auxiliary training devices suffer from limited human-computer interaction capabilities, single-mode training, and basic passive functionalities. To enhance the effectiveness of rehabilitation training, particularly in predicting human movement trajectories, this study presents a brain-like intelligent trajectory prediction model. This model, inspired by bionics, follows the physiological structure and control mechanisms of the human brain to improve human-robot cooperative control in rehabilitation exoskeletons. Utilizing an Echo State Network (ESN), the model establishes a computational framework that mirrors the motor neuron activity of the cerebellum, brainstem, and spinal cord. In conjunction with the Spiking Cerebellar Model Network (SCMN), a brain-like trajectory prediction model was developed that incorporates pulsatile neurons, simulating the transmission and synaptic processes observed in biological neural networks. This approach enhances computational efficiency and physiological interpretability, addressing the limitations of existing neural network models. Experimental results demonstrate that the proposed brain-like control model effectively predicts the movement trajectories of upper limb rehabilitation exoskeletons, offering a novel theoretical and practical framework for bionic control in rehabilitation robotics.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"183 ","pages":"Article 104836"},"PeriodicalIF":4.3,"publicationDate":"2024-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142527722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Vibration suppression of redundantly controlled cable-driven parallel robots 冗余控制电缆驱动并联机器人的振动抑制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-17 DOI: 10.1016/j.robot.2024.104838

Xiaotong Zhao, Jingli Du, KunPeng Zhao

{"title":"Vibration suppression of redundantly controlled cable-driven parallel robots","authors":"Xiaotong Zhao, Jingli Du, KunPeng Zhao","doi":"10.1016/j.robot.2024.104838","DOIUrl":"10.1016/j.robot.2024.104838","url":null,"abstract":"<div><div>Cable-driven parallel robots (CDPRs) use flexible cables to connect the end-effector to a fixed base, which is prioritized for large workspace and fast operation speed, but the presence of flexible cables creates a challenge for high-precision control of CDPRs. The mass and elasticity of the cables need to be considered to model the CDPRs in a large workspace more accurately. In this paper, the dynamics of the CDPRs are modeled using the finite element method. In order to more accurately predict the simulation results of the discrete-time model at the actual control frequency, the hierarchical model predictive control (H-MPC) algorithm is proposed with an internal mapping module for mapping control signals and an external prediction module for predictive control. In the control process, we designed a physics-informed neural network (PINN) to predict the state of end-cable elements. Under the same hardware conditions, the H-MPC algorithm effectively reduces the vibration of the end-effector during operation compared to the model predictive control (MPC) algorithm. Our proposed algorithm is validated under various trajectories, and the results show that the H-MPC algorithm can mitigate the vibration condition of the end-effector. We provide new solutions and ideas for the research in high precision control and vibration control of CDPRs. Our H-MPC algorithms are also easier to deploy in industrial controls.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"183 ","pages":"Article 104838"},"PeriodicalIF":4.3,"publicationDate":"2024-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142527725","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Management of a fleet of autonomous underwater gliders for area coverage: From simulation to real-life experimentation 管理用于区域覆盖的自主水下滑翔机舰队：从模拟到实际实验

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-15 DOI: 10.1016/j.robot.2024.104825

Aurélien Merci , Cédric Anthierens , Nadège Thirion-Moreau , Yann Le Page

{"title":"Management of a fleet of autonomous underwater gliders for area coverage: From simulation to real-life experimentation","authors":"Aurélien Merci , Cédric Anthierens , Nadège Thirion-Moreau , Yann Le Page","doi":"10.1016/j.robot.2024.104825","DOIUrl":"10.1016/j.robot.2024.104825","url":null,"abstract":"<div><div>This article deals with underwater gliders whether there are operated in a fleet or individually. They constitute the most affordable and energy-saving autonomous observation/data acquisition platform, making long-duration ocean exploration missions possible. In this article, theoretical researches are led to solve the path planning problem of multi-point exploration missions of this type of vehicle. We focus on the area coverage type missions <em>i.e.</em> all points of a given area must be visited only once. We suggest a new path planning method for area coverage <em>i.e.</em> the fleet of glider is sized and the optimized glider trajectories are calculated according to selected criteria (mission duration, energy consumption or traveled distance). Our proposed approach combines weighted graph theory with our underwater glider simulator whose main interest is to be capable of integrating time-varying 3D environmental data (4D). Our method is tested in simulation and then in a dynamic real-life context (Mediterranean Sea) on Alseamar’s SeaExplorer autonomous underwater gliders. Finally, a comparison with the expertise of a glider pilot and a more conventional approach, exploiting only the distance between the waypoints in the operation area, confirms the relevance and effectiveness of the suggested method. The experimental mission demonstrates the interest and benefits of the approach and the ease of operational implementation in an industrial context.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"183 ","pages":"Article 104825"},"PeriodicalIF":4.3,"publicationDate":"2024-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142527721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Social robot navigation through constrained optimization: A comprehensive study of uncertainty-based objectives and constraints in the simulated and real world 通过约束优化实现社交机器人导航：对模拟和真实世界中基于不确定性的目标和约束条件的综合研究

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-11 DOI: 10.1016/j.robot.2024.104830

Timur Akhtyamov , Aleksandr Kashirin , Aleksey Postnikov , Ivan Sosin , Gonzalo Ferrer

{"title":"Social robot navigation through constrained optimization: A comprehensive study of uncertainty-based objectives and constraints in the simulated and real world","authors":"Timur Akhtyamov , Aleksandr Kashirin , Aleksey Postnikov , Ivan Sosin , Gonzalo Ferrer","doi":"10.1016/j.robot.2024.104830","DOIUrl":"10.1016/j.robot.2024.104830","url":null,"abstract":"<div><div>This paper provides an empirical evaluation, in both simulation and real scenarios, of the social navigation problem when considering human motion prediction and its stochastic effects. To this end, we study several different optimization criteria and constraints related to the uncertainty of predicting pedestrians’ motion, embedded into the Model Predictive Control (MPC) scheme.</div><div>The main research question of this work is the following: what are the most important uncertainty-based criteria for the social MPC both in simulated and real-world environments? In order to achieve a solid answer to this question, we extend the results previously obtained from our work (Akhtyamov et al., 2023) in the simulated environments and provide a real-world setting that mimics similar conditions, for a fair comparison of the qualitative and quantitative results.</div><div>The main conclusions supported by both of the evaluation environments are the advantages of using <em>adaptive constraints</em> as a clear undisputed enhancement and the problems raised when considering uncertainty-aware criteria. We hope this paper is of interest to the community for deciding and designing uncertainty-aware approaches for social robot navigation.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"183 ","pages":"Article 104830"},"PeriodicalIF":4.3,"publicationDate":"2024-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142527723","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Rebar-tying Robot based on machine vision and coverage path planning 基于机器视觉和覆盖路径规划的钢筋绑扎机器人

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-11 DOI: 10.1016/j.robot.2024.104826

Xinyan Tan , Lingxuan Xiong , Weimin Zhang , Zhengqing Zuo , Xiaohai He , Yi Xu , Fangxing Li

引用次数: 0

Human leading or following preferences: Effects on human perception of the robot and the human–robot collaboration 人类的领导或跟随偏好：对人类感知机器人和人机协作的影响

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-10 DOI: 10.1016/j.robot.2024.104821

Ali Noormohammadi-Asl, Kevin Fan, Stephen L. Smith, Kerstin Dautenhahn

引用次数: 0

Navigating the blame game: Investigating automated vehicle fault in collisions under mixed traffic conditions 责任游戏导航：混合交通条件下碰撞事故中自动驾驶汽车故障调查

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-10 DOI: 10.1016/j.robot.2024.104831

Boniphace Kutela , Jimoku Hinda Salum , Seif Rashidi Seif , Subasish Das , Emmanuel Kidando

{"title":"Navigating the blame game: Investigating automated vehicle fault in collisions under mixed traffic conditions","authors":"Boniphace Kutela , Jimoku Hinda Salum , Seif Rashidi Seif , Subasish Das , Emmanuel Kidando","doi":"10.1016/j.robot.2024.104831","DOIUrl":"10.1016/j.robot.2024.104831","url":null,"abstract":"<div><div>Vehicle being at fault in a crash has extensively been associated with its driver's behaviors and other human errors for human-driven vehicles (HDV). The introduction of automated vehicles (AVs) is expected to eliminate such human errors due to the ability of AVs to communicate with the external environment. However, various reports have documented AVs being at fault in collisions. This study applied text mining and mixed-effects logistic regression (MELR) on crash data involving AVs collected between 2017 and 2022 in California to explore the likelihood of an AV being at fault during a collision. It was found that among 497 crashes, a relatively small percentage (14.29 %) involved AVs being at fault. The text network results revealed patterns of keywords associated with the AVs being at fault. Such patterns include conventional mode of operation, area of impact, and resulting injuries. Furthermore, with about a 93 % prediction accuracy and an 83 % sensitivity score, the MELR results revealed that the likelihood of AVs being at fault increases when they are operated in conventional mode or when disengagement is involved. Moreover, turning, merging, or changing lane movements, unclear weather conditions, and operating on roadways with four or more lanes significantly increased the odds of an AV being at fault during a crash. Conversely, AVs were less likely to be at fault in commercial land use than residential land use, at intersection locations, and when the crash involved a truck. The practical implications of the findings are presented to improve AV operations.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"182 ","pages":"Article 104831"},"PeriodicalIF":4.3,"publicationDate":"2024-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142432325","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

The path towards contact-based physical human–robot interaction 实现基于接触的人机物理交互之路

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-10 DOI: 10.1016/j.robot.2024.104829

Mohammad Farajtabar, Marie Charbonneau

{"title":"The path towards contact-based physical human–robot interaction","authors":"Mohammad Farajtabar, Marie Charbonneau","doi":"10.1016/j.robot.2024.104829","DOIUrl":"10.1016/j.robot.2024.104829","url":null,"abstract":"<div><div>With the advancements in human–robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots are equipped with a range of sensors to perceive human motions. Despite the presence of surveys exploring various aspects of HRI and pHRI, there is presently a gap in comprehensive studies that collect, organize and relate developments across all aspects of contact-based pHRI. It has become challenging to gain a comprehensive understanding of the current state of the field, thoroughly analyze the aspects that have been covered, and identify areas needing further attention. Hence, the present survey. While it includes key developments in pHRI, a particular focus is placed on contact-based interaction, which has numerous applications in industrial, rehabilitation and medical robotics. Across the literature, a common denominator is the importance to establish a safe, compliant and human intention-oriented interaction. This endeavour encompasses aspects of perception, planning and control, and how they work together to enhance safety and reliability. Notably, the survey highlights the application of data-driven techniques: backed by a growing body of literature demonstrating their effectiveness, approaches like reinforcement learning and learning from demonstration have become key to improving robot perception and decision-making within complex and uncertain pHRI scenarios. This survey also stresses how little attention has yet been dedicated to ethical considerations surrounding pHRI, including the development of contact-based pHRI systems that are appropriate for people and society. As the field is yet in its early stage, these observations may help guide future developments and steer research towards the responsible integration of physically interactive robots into workplaces, public spaces, and elements of private life.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"182 ","pages":"Article 104829"},"PeriodicalIF":4.3,"publicationDate":"2024-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142432324","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modeling and numerical analysis of Kangaroo lower body based on constrained dynamics of hybrid serial–parallel floating-base systems 基于串并联混合浮动基座系统约束动力学的袋鼠下半身建模与数值分析

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-09 DOI: 10.1016/j.robot.2024.104827

Enrico Mingo Hoffman , Andrea Curti , Narcis Miguel , Sai Kishor Kothakota , Alberto Molina , Adria Roig , Luca Marchionni

{"title":"Modeling and numerical analysis of Kangaroo lower body based on constrained dynamics of hybrid serial–parallel floating-base systems","authors":"Enrico Mingo Hoffman , Andrea Curti , Narcis Miguel , Sai Kishor Kothakota , Alberto Molina , Adria Roig , Luca Marchionni","doi":"10.1016/j.robot.2024.104827","DOIUrl":"10.1016/j.robot.2024.104827","url":null,"abstract":"<div><div>This paper presents the modeling and numerical analysis of the Kangaroo lower body prototype, a novel bipedal humanoid robot developed and manufactured by PAL Robotics. Kangaroo features high-power linear electric actuators combined with unique serial–parallel hybrid chains, which allow for the positioning of all the leg actuators near the base of the robot to improve the overall mass distribution. To model and analyze such complex nonlinear mechanisms, we employ a constrained formulation that is extended to account for floating-base systems in contact with the environment. A comparison is made to demonstrate the significant improvements achieved with TALOS, another humanoid bipedal robot designed by PAL Robotics, in terms of equivalent Cartesian inertia at the feet and centroidal angular momentum. Finally, the paper includes numerical experiments conducted through simulation and preliminary tests performed on the actual Kangaroo platform.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"182 ","pages":"Article 104827"},"PeriodicalIF":4.3,"publicationDate":"2024-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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