Robotics and Autonomous Systems最新文献_第2页

A critical review and systematic design approach for innovative upper-limb rehabilitation devices 对创新型上肢康复设备的严格审查和系统设计方法

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-21 DOI: 10.1016/j.robot.2024.104835

Michele Perrelli, Francesco Lago, Salvatore Garofalo, Luigi Bruno, Domenico Mundo, Giuseppe Carbone

{"title":"A critical review and systematic design approach for innovative upper-limb rehabilitation devices","authors":"Michele Perrelli, Francesco Lago, Salvatore Garofalo, Luigi Bruno, Domenico Mundo, Giuseppe Carbone","doi":"10.1016/j.robot.2024.104835","DOIUrl":"10.1016/j.robot.2024.104835","url":null,"abstract":"<div><div>This paper conducts a thorough literature review and assessment of prevailing upper-limb rehabilitation devices, scrutinizing their strengths and limitations. The focus of this work is mainly on soft exosuit devices but some rigid and hybrid exoskeleton devices are also discussed as a comparative mean. Subsequently, this manuscript delineates explicit design guidelines with the intent of fostering a systematic approach toward innovation in the realm of upper-limb rehabilitation technology. Through an examination of current concepts and technological paradigms, this study seeks to contribute nuanced insights aimed at optimizing both efficacy and user experience in rehabilitation device design. The culmination of this critical analysis results in the proposal of a systematic design procedure to inform and influence the trajectory of specific user-tailored innovations within the domain of upper-limb rehabilitation devices.The proposed approach enables the identification of features and weaknesses in existing devices, facilitating also the design of innovative solutions for unsolved issues in the field of wearable robotics. A design example is presented to clarify the proposed design procedure.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"183 ","pages":"Article 104835"},"PeriodicalIF":4.3,"publicationDate":"2024-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142527644","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

Differential kinematics of a single-point-suspended manipulator with center-of-mass shift compensation 具有质量中心偏移补偿功能的单点悬挂式机械手的差分运动学原理

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-19 DOI: 10.1016/j.robot.2024.104820

Zhifeng Huang , Runqiao Zhou , Ruiyuan Huang , Jun Ota

{"title":"Differential kinematics of a single-point-suspended manipulator with center-of-mass shift compensation","authors":"Zhifeng Huang , Runqiao Zhou , Ruiyuan Huang , Jun Ota","doi":"10.1016/j.robot.2024.104820","DOIUrl":"10.1016/j.robot.2024.104820","url":null,"abstract":"<div><div>The single cable-suspended manipulator is suitable for special occasions such as aerial operation tasks of unmanned aerial vehicles (UAVs) and deep-well search and rescue. However, due to the lack of complete constraints at the base, the manipulator will have errors in end position due to the center-of-mass offset during the motion. In this paper, the model of CoM shifting is established, and the Jacobian matrix is improved based on this model, to realize the differential kinematics solution for the single cable-suspended manipulator. In addition, by introducing the constraint of CoM shift in the Jacobian matrix, it makes it possible to synchronize the planning of the motion of the end and the center of mass. This can effectively avoid the wobbling of the manipulator in the presence of elasticity or instability at the suspension point. Both simulation and prototype experiments effectively verify the effectiveness of the proposed method. Using the method of this paper, the average error of the trajectories in the z-axis and x-axis can be reduced from 27.0 ± 2.6 mm to 5.6 ± 3.4 mm, and 43.0 ± 64.2 mm to 3.3 ± 4.8 mm, respectively.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"183 ","pages":"Article 104820"},"PeriodicalIF":4.3,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142553195","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

Bidirectional artificial potential field-based ant colony optimization for robot path planning 基于人工势场的双向蚁群优化机器人路径规划

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-10-19 DOI: 10.1016/j.robot.2024.104834

Bo Fu , Yuming Chen , Yi Quan , Xilin Zhou , Chaoshun Li

{"title":"Bidirectional artificial potential field-based ant colony optimization for robot path planning","authors":"Bo Fu , Yuming Chen , Yi Quan , Xilin Zhou , Chaoshun Li","doi":"10.1016/j.robot.2024.104834","DOIUrl":"10.1016/j.robot.2024.104834","url":null,"abstract":"<div><div>Ant colony optimization (ACO) is a common approach for addressing mobile robot path planning problems. However, it still encounters some challenges including slow convergence speed, susceptibility to local optima, and a tendency to falling into traps. We propose a bidirectional artificial potential field-based ant colony optimization (BAPFACO) algorithm to solve these issues. First, the bidirectional artificial potential field is introduced to initialize the grid environment model and restrict direction selection to jump out of the trap. Second, an adaptive heuristic function is presented to strengthen directionality of the algorithm and reduce the turning times. Third, a pseudo-random state transition rule based on potential difference between starting and ending nodes is developed to accelerate convergence speed. Finally, an improved pheromone update strategy incorporating pheromone diffusion mechanism and elite ants update strategy is proposed to help getting out of local optima. To demonstrate the advantages of BAPFACO, the validation of the performance in six different complexity environments and comparative experiments with other conventional search algorithms and ACO variants are conducted. The results of experiment show that compared to various ACO variants, BAPFACO have advantages in terms of reducing the turning times, shortening path length, improving convergence speed and avoiding ant loss. In complex environments, compared to IHMACO, the average path length enhancement percentage (<em>PLE</em>) of BAPFACO is 20.98%, the average iterations enhancement percentage (<em>IE</em>) of BAPFACO is 20.00% and the average turning times enhancement percentage (<em>TE</em>) of BAPFACO is 49.43%. These results firmly demonstrate the efficiency and practicality of the BAPFACO algorithm for mobile robot in path planning.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"183 ","pages":"Article 104834"},"PeriodicalIF":4.3,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142658822","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

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