Robotics and Autonomous Systems最新文献_第3页

A Signal Temporal Logic approach for task-based coordination of multi-aerial systems: A wind turbine inspection case study

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-01-02 DOI: 10.1016/j.robot.2024.104905

Giuseppe Silano , Alvaro Caballero , Davide Liuzza , Luigi Iannelli , Stjepan Bogdan , Martin Saska

引用次数: 0

LLM-controller: Dynamic robot control adaptation using large language models

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-01-02 DOI: 10.1016/j.robot.2024.104913

Rasoul Zahedifar , Mahdieh Soleymani Baghshah , Alireza Taheri

{"title":"LLM-controller: Dynamic robot control adaptation using large language models","authors":"Rasoul Zahedifar , Mahdieh Soleymani Baghshah , Alireza Taheri","doi":"10.1016/j.robot.2024.104913","DOIUrl":"10.1016/j.robot.2024.104913","url":null,"abstract":"<div><div>In this study, a dynamic adaptation of a robot controller is investigated using large language models (LLMs). We propose our controller called the LLM-Controller, where, in response to changes in the system dynamics or reference signals, the LLM adapts the controller to the new context. Various scenarios reflecting real-world conditions, including unknown disturbances, unmodeled dynamics, and changing reference signals, were analyzed. Using the proposed LLM-Controller, one can adapt to new conditions automatically without manual tuning. Additionally, the controller's performance is investigated using different prompting techniques, such as zero-shot and few-shot chain-of-thought (COT), which facilitate step-by-step reasoning and improve adaptation to new contexts. The proposed scheme is applied to two case studies involving robot manipulators. First, it is tested on a 2-link robot manipulator, followed by a 3-link manipulator to enhance its generalizability. The algorithm's adaptability and effectiveness are further evaluated across a range of tasks and conditions, demonstrating its versatility in various scenarios. The results demonstrate that the LLM-Controller achieved a 100 % success rate in adapting the controller to new conditions for the 2-link manipulator, with a significant improvement in trial efficiency; while for the 3-link system, the controller maintained a 90 % success rate, showing greater adaptability to changes in reference signals or dynamic conditions in under 20 s. These outcomes could be further enhanced by employing a COT approach, potentially leading to higher success rates, fewer trials, and optimized costs. In contrast, the classic nonlinear adaptive controller struggled to adjust to the new conditions, while the LLM-Controller automatically adapts, guiding the system to new stable states. This research provides valuable insights into how LLMs can enhance decision-making, improving stability and performance in dynamic and uncertain environments.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"186 ","pages":"Article 104913"},"PeriodicalIF":4.3,"publicationDate":"2025-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143096375","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

Active control strategy of lower limb exoskeleton based on variable admittance control

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-01-02 DOI: 10.1016/j.robot.2024.104906

Jiange Kou , Yixuan Wang , Yan Shi , Shaofeng Xu , Haoran Zhan , Qing Guo

引用次数: 0

An algorithm for dynamic obstacle avoidance applied to UAVs

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-01-01 DOI: 10.1016/j.robot.2024.104907

Julian Rascon Enriquez , Bernardino Castillo-Toledo , Stefano Di Gennaro , Luis Arturo García-Delgado

{"title":"An algorithm for dynamic obstacle avoidance applied to UAVs","authors":"Julian Rascon Enriquez , Bernardino Castillo-Toledo , Stefano Di Gennaro , Luis Arturo García-Delgado","doi":"10.1016/j.robot.2024.104907","DOIUrl":"10.1016/j.robot.2024.104907","url":null,"abstract":"<div><div>This research focuses on developing a navigation method for mobile robots to effectively avoid moving obstacles while accurately tracking a desired path. The approach introduces an enhanced velocity field that incorporates hydrodynamic theory tools. Initially designed for the 2D case, the method is subsequently extended to the 3D scenario by introducing vector field extensions and rotations.</div><div>To validate the proposed scheme, experiments are conducted using a UAV model tasked with tracking a circular contour. The control system employs two PD controllers for regulating the vertical position (<span><math><mi>z</mi></math></span>) and yaw angle (<span><math><mi>ψ</mi></math></span>), while the roll (<span><math><mi>ϕ</mi></math></span>) and pitch (<span><math><mi>θ</mi></math></span>) angles are controlled using a nested saturation method.</div><div>The numerical results demonstrate the successful achievement of the tracking objective, even when a moving obstacle crosses the reference path. Notably, this study considers the scenario where an obstacle approaches the vehicle from behind, which is often overlooked in similar investigations. This aspect is examined in both the 2D and 3D cases.</div><div>Subsequently, the proposed navigation method is tested on a quadrotor vehicle, yielding favorable results.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"186 ","pages":"Article 104907"},"PeriodicalIF":4.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143096431","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

A review of compliant mechanisms for contact robotics applications

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-30 DOI: 10.1016/j.robot.2024.104902

Zahra Samadikhoshkho, Elliot Saive, Michael G. Lipsett

引用次数: 0

Energy-aware multi-robot task scheduling using meta-heuristic optimization methods for ambiently-powered robot swarms

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-30 DOI: 10.1016/j.robot.2024.104898

Mohmmadsadegh Mokhtari , Parham Haji Ali Mohamadi , Michiel Aernouts , Ritesh Kumar Singh , Bram Vanderborght , Maarten Weyn , Jeroen Famaey

{"title":"Energy-aware multi-robot task scheduling using meta-heuristic optimization methods for ambiently-powered robot swarms","authors":"Mohmmadsadegh Mokhtari , Parham Haji Ali Mohamadi , Michiel Aernouts , Ritesh Kumar Singh , Bram Vanderborght , Maarten Weyn , Jeroen Famaey","doi":"10.1016/j.robot.2024.104898","DOIUrl":"10.1016/j.robot.2024.104898","url":null,"abstract":"<div><div>This paper presents a novel approach to address the challenges of energy-aware task scheduling in a collaborative swarm of robots equipped with energy-harvesting capabilities. With a primary focus on task execution timing, reliable task allocation, and efficient utilization of available energy resources, the task-scheduling process is approached with an energy-aware strategy. The developed architecture employs a centralized and autonomous approach that dynamically responds to a sequence-dependent setup time job shop scheduling demand. The proposed method incorporates energy consumption estimation, charging contingency approach, and energy harvesting prediction to minimize overall task execution time. The problem is optimized using Adaptive Particle Swarm Optimization and compared to other well-known meta-heuristic algorithms. A practical illustration of the proposed approach’s real-world utility is demonstrated through a case study scenario conducted within a heterogeneous pick-drop delivery setting inside a warehouse. The study was conducted utilizing the TurtelBot3 burger robot model within the Robotic Operating System and Gazebo simulation environment. Simulation results demonstrate the superiority of the energy-aware solution for multi-robot scheduling and task allocation problems over the energy-unaware methods by a 15 percent reduction in task completion time.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"186 ","pages":"Article 104898"},"PeriodicalIF":4.3,"publicationDate":"2024-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143096368","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

Sobol sequence RRT* and numerical optimal joint algorithm-based automatic parking trajectory planning of four-wheel steering vehicles

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-30 DOI: 10.1016/j.robot.2024.104909

Jiulong Yang , Junnian Wang , Jiajun Li , Xiangzhe Meng , Xingwei Jiang , Changgang Lu

{"title":"Sobol sequence RRT* and numerical optimal joint algorithm-based automatic parking trajectory planning of four-wheel steering vehicles","authors":"Jiulong Yang , Junnian Wang , Jiajun Li , Xiangzhe Meng , Xingwei Jiang , Changgang Lu","doi":"10.1016/j.robot.2024.104909","DOIUrl":"10.1016/j.robot.2024.104909","url":null,"abstract":"<div><div>Four-wheel steering can effectively improve turning agility and mitigate parking spatial requirement. Addressing the issues of low sampling point quality and poor efficiency in existing Rapidly-exploring Random Tree (RRT) and its improved algorithms for automatic parking assist (APA) system, a parking trajectory planning algorithm combining Sobol-RRT* with Reeds-Shepp curve and numerical optimal control within four-wheel steering kinematic model constraints is proposed in this paper to improve parking space utilization rate, cope with dynamic obstacles during parking process. First, the hierarchical framework of the proposed path planning algorithm is introduced, which is used as the basis of the planning algorithm, and the kinematics model of the four-wheel steering vehicle is established. Second, the pseudo-random sequences of RRT algorithm are replaced by Sobol sequences with uniform difference characteristics. Then, the parking trajectory planning problem is formulated with consideration of the system dynamic equation constraints based on the four-wheel steering kinematics model and the dynamic obstacle constraints based on the \"triangular area method\". Finally, the planned parking trajectory for the four-wheel steering vehicle is obtained by solving the optimal control problem and cubic spline curve fitting. Simulation in typical parking conditions validated the proposed planning algorithm on improvement of the APA system adaptability to challenging parking environment with dynamic obstacles.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"186 ","pages":"Article 104909"},"PeriodicalIF":4.3,"publicationDate":"2024-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143096430","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

Dexterous in-hand manipulation of slender cylindrical objects through deep reinforcement learning with tactile sensing

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-30 DOI: 10.1016/j.robot.2024.104904

Wenbin Hu , Bidan Huang , Wang Wei Lee , Sicheng Yang , Yu Zheng , Zhibin Li

{"title":"Dexterous in-hand manipulation of slender cylindrical objects through deep reinforcement learning with tactile sensing","authors":"Wenbin Hu , Bidan Huang , Wang Wei Lee , Sicheng Yang , Yu Zheng , Zhibin Li","doi":"10.1016/j.robot.2024.104904","DOIUrl":"10.1016/j.robot.2024.104904","url":null,"abstract":"<div><div>Continuous in-hand manipulation is an important physical interaction skill, where tactile sensing provides indispensable contact information to enable dexterous manipulation of objects. In this work, we propose a learning-based framework for dexterous in-hand manipulation that controls the pose of a thin cylindrical object, such as a long stick, to track various continuous trajectories, through multiple contacts of three fingertips of a dexterous robot hand with tactile sensor arrays. We extract the contact information between the stick and each fingertip from the high-dimensional tactile information and show that the robot can effectively learn a policy to achieve the task. The policies are trained with deep reinforcement learning in simulation and successfully transferred to real-world experiments, using coordinated model calibration and domain randomization. We compare the effectiveness of different types of tactile information and find out that the policies trained with contact center positions achieve best tracking results. The sim-to-real performances are validated through real-world experiments.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"186 ","pages":"Article 104904"},"PeriodicalIF":4.3,"publicationDate":"2024-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143095623","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

A stable and safe method for two-leg balancing of a quadruped robot using a neural-network-based controller

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-28 DOI: 10.1016/j.robot.2024.104901

Alessia Li Noce , Luca Patanè , Paolo Arena

{"title":"A stable and safe method for two-leg balancing of a quadruped robot using a neural-network-based controller","authors":"Alessia Li Noce , Luca Patanè , Paolo Arena","doi":"10.1016/j.robot.2024.104901","DOIUrl":"10.1016/j.robot.2024.104901","url":null,"abstract":"<div><div>This study presents a control strategy using a neural controller to achieve postural control in underactuated quadrupedal robots, such as balancing on two feet constrained to be fixed. Such a configuration, as in climbing animals, is the most appropriate solution for traversing uneven, slippery terrains with few safe footholds. This is one of the most challenging poses to achieve and maintain under dynamic stability in a complex, high-order, underactuated robotic structure with two fixed points. The neural network learns by mimicking an optimal controller on a variation-based linearized model of the robot. A hybrid training strategy, formulated within a Linear Matrix Inequality framework, was developed to minimize the classical accuracy index while incorporating additional constraints to ensure stability and safety based on Lyapunov theory.For the first time, a Lyapunov neural controller was successfully applied to an underactuated dynamic system to maintain critical stability conditions, extending the region of attraction for the desired equilibrium beyond that of the optimal base controller used as a teacher. The neural controller demonstrates its efficiency against disturbances and novel reference poses not encountered during training, showcasing impressive generalization capabilities. Another key advantage is the significantly increased bandwidth of the neural control loop, which is several orders of magnitude higher than that of currently used recursive optimal controllers. This strategy is validated using a realistic dynamic simulation framework.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"186 ","pages":"Article 104901"},"PeriodicalIF":4.3,"publicationDate":"2024-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143096426","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

POE-based kinematic calibration for serial robots using left-invariant error representation and decomposed iterative method

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2024-12-27 DOI: 10.1016/j.robot.2024.104896

Qi Huang , Xuanchen Zhang , Hongtao Pan , Kun Lu , Yong Cheng

{"title":"POE-based kinematic calibration for serial robots using left-invariant error representation and decomposed iterative method","authors":"Qi Huang , Xuanchen Zhang , Hongtao Pan , Kun Lu , Yong Cheng","doi":"10.1016/j.robot.2024.104896","DOIUrl":"10.1016/j.robot.2024.104896","url":null,"abstract":"<div><div>Most kinematic calibration algorithms overlook the impact of the pose error representation of the robot end-effector on calibration accuracy. In this paper, we demonstrate that the left-invariant error representation (LIEP) provides better pose accuracy than the right-invariant error representation (RIEP) in robot kinematic calibration. Standard product-of-exponentials (POE) kinematic calibration algorithms naturally satisfy the continuity and completeness of the error parameters but lack minimality. We introduce a novel minimal parameterization for the error parameters by analyzing the ineffective error updates during iteration. The number of identifiable parameters is determined as <span><math><mrow><mn>4</mn><mi>r</mi><mo>+</mo><mn>2</mn><mi>p</mi><mo>+</mo><mn>6</mn></mrow></math></span>, where <span><math><mi>r</mi></math></span> and <span><math><mi>p</mi></math></span> represent the number of revolute and prismatic joints, respectively. In addition, we propose a decomposed iterative method to address the issue of the condition number in the identification Jacobian matrix being affected by the position data, thereby improving the convergence and robustness of algorithm. Finally, we present a POE-based calibration algorithm using the left-invariant error representation and decomposed iterative method, which satisfies completeness, continuity, and minimality. Several factors affecting calibration accuracy in POE-based kinematic calibration algorithms are discussed through simulations and experiments. Both simulations and experiments support our claims, showing that our algorithm outperforms existing methods in terms of orientation and position accuracy.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"186 ","pages":"Article 104896"},"PeriodicalIF":4.3,"publicationDate":"2024-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143096427","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